An Optimal and Energy Efficient Multi-Sensor Collision-Free Path Planning Algorithm for a Mobile Robot in Dynamic Environments

Robotics

Marwah Almasri¹  Khaled Elleithy¹  Tarek Sobh¹  Abrar Alajlan¹ 

[1] Department of Computer Science, University of Bridgeport, 126 Park Avenue, Bridgeport, CT 06604, USA;

关键词: motion planning;    collision avoidance;    safe navigation;    autonomous control;    mobile robot;   

DOI  :  10.3390/robotics6020007

来源: DOAJ

【 摘 要 】

There has been a remarkable growth in many different real-time systems in the area of autonomous mobile robots. This paper focuses on the collaboration of efficient multi-sensor systems to create new optimal motion planning for mobile robots. A proposed algorithm is used based on a new model to produce the shortest and most energy-efficient path from a given initial point to a goal point. The distance and time traveled, in addition to the consumed energy, have an asymptotic complexity of O(nlogn), where n is the number of obstacles. Real time experiments are performed to demonstrate the accuracy and energy efficiency of the proposed motion planning algorithm.

【 授权许可】

Unknown