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Related Experiment Video

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Operation of the Collaborative Composite Manufacturing CCM System
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Space deformation based path planning for Mobile Robots.

Abdullah Ahmed1, Ahmed Maged2, Aref Soliman1

  • 1Department of Mechanical Engineering, Benha University, Benha, Egypt.

ISA Transactions
|August 29, 2021
PubMed
Summary

This study introduces a hybrid robot path planning algorithm that ensures smooth navigation with low computation time. The novel method dynamically deforms the workspace to adapt to environmental changes, improving robot movement efficiency.

Keywords:
Autonomous robotsHybrid path planningNavigationSpace deformationThin plate spline

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Computational Geometry

Background:

  • Robot path planning requires balancing computational time, path smoothness, and optimal length.
  • Partially known environments pose challenges for efficient robot navigation.

Purpose of the Study:

  • To develop a hybrid algorithm for robot path planning in partially known environments.
  • To achieve low computational time and high path smoothness.

Main Methods:

  • A hybrid path planning algorithm is proposed, taking a global path as input.
  • An initial smoothed path is generated and dynamically updated.
  • Workspace deformation is utilized to adapt to environmental changes.

Main Results:

  • The algorithm demonstrates superior performance in terms of path smoothness and execution time.
  • Numerical simulations and experimental analysis validate the algorithm's effectiveness.

Conclusions:

  • The developed hybrid algorithm offers an efficient solution for robot navigation.
  • Dynamic workspace deformation is a viable strategy for adaptive path planning.