|1/2012 - 10|
A Motion Planning System for Mobile RobotsTUNCER, A. , YILDIRIM, M. , ERKAN, K.
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genetic algorithm, mobile robot, motion planning
robot(12), genetic(12), planning(10), path(9), mobile(8), algorithm(8), algorithms(6), robotics(5), autonomous(4)
Blue keywords are present in both the references section and the paper title.
About this article
Date of Publication: 2012-02-28
Volume 12, Issue 1, Year 2012, On page(s): 57 - 62
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2012.01010
Web of Science Accession Number: 000301075000010
SCOPUS ID: 84860754571
In this paper, a motion planning system for a mobile robot is proposed. Path planning tries to find a feasible path for mobile robots to move from a starting node to a target node in an environment with obstacles. A genetic algorithm is used to generate an optimal path by taking the advantage of its strong optimization ability. Mobile robot, obstacle and target localizations are realized by means of camera and image processing. A graphical user interface (GUI) is designed for the motion planning system that allows the user to interact with the robot system and to observe the robot environment. All the software components of the system are written in MATLAB that provides to use non-predefined accessories rather than the robot firmware has, to avoid confusing in C++ libraries of robot's proprietary software, to control the robot in detail and not to re-compile the programs frequently in real-time dynamic operations.
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Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania
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