Path Planning in a Dynamic Environment
Journal Title: International Journal of Advanced Computer Science & Applications - Year 2014, Vol 5, Issue 8
Abstract
Path planning is an important area in the control of autonomous mobile robots. Recent work has focused on aspects reductions in processing time than the memory requirements. A dynamic environment uses a lot of memory and hence the processing time increases too. Our approach is to reduce the processing time by the use of a pictorial approach to reduce the number of data used. In this paper, we present a path planning approach that operates in three steps. First, a construction of the visibility tree is performed. The following treatments are not performed on the original image but on the result tree whose elements are specific points of the environment linked by the relationship of visibility. We construct thereafter a visibility graph which one seeks the shortest path. This approach has a great interest because of its fast execution speed. The path search is extended also for the case where obstacles can move. The moving obstacles may be other mobile robots whose trajectories and speeds are known initially. At the end, some applications are provided on solving similar problem such civil aviation in order to guide plane avoiding collisions.
Authors and Affiliations
Mohamed KHAILI
Keywords
Related Articles
- EP ID EP131932
- DOI 10.14569/IJACSA.2014.050813
- Views 100
- Downloads 0
Recognition of Objects by Using Genetic Programming
This document is devoted to the task of object detection and recognition in digital images by using genetic programming. The goal was to improve and simplify existing approaches. The detection and recognition are achieve...
Artificial Intelligence based Fertilizer Control for Improvement of Rice Quality and Harvest Amount
Artificial Intelligence: AI based fertilizer control for improvement of rice quality and harvest amount is proposed together with intelligent drone based rice field monitoring system. Through experiments at the rice padd...
The Reality of Applying Security in Web Applications in Academia
Web applications are used in academic institutions, such as universities, for variety of purposes. Since these web pages contain critical information, securing educational systems is as important as securing any banking...
Impact of Android Phone Rooting on User Data Integrity in Mobile Forensics
Modern cellular phones are potent computing de-vices, and their capabilities are constantly progressing. The Android operating system (OS) is widely used, and the number of accessible apps for Android OS phones is unprec...
Knowledge-Based System’s Modeling for Software Process Model Selection
This paper depicts the knowledge-based system named as ESPMS (Expert System for Process Model Selection) through various models. A questionnaire was developed to identify important parameters, which were evaluated throug...