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Article
An algorithm for Path planning with polygon obstacles avoidance based on the virtual circle tangents

Authors: Zahraa Y. Ibrahim --- Abdulmuttalib T. Rashid --- Ali F. Marhoon
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2016 Volume: 12 Issue: 2 Pages: 221-234
Publisher: Basrah University جامعة البصرة

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Abstract

In this paper, a new algorithm called the virtual circle tangents is introduced for mobile robot navigation in an environment with polygonal shape obstacles. The algorithm relies on representing the polygonal shape obstacles by virtual circles, and then all the possible trajectories from source to target is constructed by computing the visible tangents between the robot and the virtual circle obstacles. A new method for searching the shortest path from source to target is suggested. Two states of the simulation are suggested, the first one is the off-line state and the other is the on-line state. The introduced method is compared with two other algorithms to study its performance.


Article
Prediction-Based Path Planning with Obstacle Avoidance in Dynamic Target Environment

Authors: Zahraa Y. Ibrahim --- Abdulmuttalib T. Rashid --- Ali F. Marhoon علي فاضل مرهون
Journal: Basrah Journal for Engineering Science مجلة البصرة للعلوم الهندسية ISSN: Print: 18146120; Online: 23118385 Year: 2016 Volume: 16 Issue: 2 Pages: 48-60
Publisher: Basrah University جامعة البصرة

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Abstract

In this paper, a new algorithm for mobile robot navigation and polygonal obstacles avoidance in dynamic target environment is introduced. In the dynamic target path planning theagent (robot) trying to reach a moving target in minimum pathcost. The introduced algorithm which called Prediction-basedpath planning with obstacle avoidance in dynamic target environment planning a path to a moving target by predicting the nexttarget location, then computing a path from the robot current location to the predicted target location representing each visibleobstacle by the smallest circle that enclosing the polygon obstacle,then determine the visible tangents between the robot and the circular obstacle that intersect its shortest path and compute theshortest path. Three target movement scenarios were suggestedand tested in different environment conditions. The results showthat the target was reached in all scenarios and under all environment conditions with good path cost.

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