International Journal of

ADVANCED AND APPLIED SCIENCES

EISSN: 2313-3724, Print ISSN: 2313-626X

Frequency: 12
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 Volume 11, Issue 12 (December 2024), Pages: 129-139

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 Original Research Paper

Path planning control in known environments using turning points

 Author(s): 

 Areej Ghazi Abdulshaheed *, Farah Kamil

 Affiliation(s):

 Department of Mechanical Engineering, Technical Institute of AL-Diwaniyah, AL-Furat AL-Awsat Technical University, Najaf, Iraq

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 * Corresponding Author. 

  Corresponding author's ORCID profile: https://orcid.org/0000-0002-2343-929X

 Digital Object Identifier (DOI)

 https://doi.org/10.21833/ijaas.2024.12.015

 Abstract

The path planning problem for a wheeled mobile robot (WMR) involves determining a collision-free path from a starting point to a target destination while optimizing a specific fitness function, such as minimizing distance, cost, or both, depending on the scenario. This research introduces a novel method for generating smooth paths for mobile robots in user-defined two-dimensional environments with stationary obstacles. The proposed method addresses the issue of local minima by utilizing free segments and path-planning turning points. The approach evaluates both path length and path safety as key objectives. Simulation results demonstrate that the proposed method effectively identifies optimal paths and validates the reliability of the control strategy for mobile robot navigation.

 © 2024 The Authors. Published by IASE.

 This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

 Keywords

 Path planning, Mobile robots, Collision-free, Local minima, Navigation reliability

 Article history

 Received 19 July 2024, Received in revised form 21 October 2024, Accepted 21 November 2024

 Acknowledgment

No Acknowledgment.

 Compliance with ethical standards

 Conflict of interest: The author(s) declared no potential conflicts of interest with respect to the research, authorship, and/or publication of this article.

 Citation:

 Abdulshaheed AG and Kamil F (2024). Path planning control in known environments using turning points. International Journal of Advanced and Applied Sciences, 11(12): 129-139

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 Figures

 Fig. 1 Fig. 2 Fig. 3 Fig. 4 Fig. 5 Fig. 6 Fig. 7 Fig. 8 Fig. 9 Fig. 10 Fig. 11 Fig. 12 

 Tables

 Table 1 Table 2 

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