Control points searching algorithm for autonomous mobile robot navigation with obstacle avoidance

Hassani, Imen; Maalej, Imen; Rekik, Chokri

doi:10.1109/sta.2019.8717220

Cited by 4 publications

(6 citation statements)

References 9 publications

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“…The proposed algorithms are used to determine the best values for the two PID controller parameters. The swarm population size of 30 and the maximum number of iterations of 100 have been taken from [40]. The parameters of the proposed algorithms are as follows: In PSO and HBPO, 𝑐 1 , 𝑐 2 are 2, and w is 0.4.…”

Section: Simulation and Results Of Control Trajectory Trackingmentioning

confidence: 99%

“…A novel trajectory tracking control system for mobile robots has been developed, combining reinforcement learning and PID control. In [40], looked into the wheeled mobile robot's navigation approach in a known area with static obstacles. The technique is based on an assessment of the visibility situation, which determines whether there is a point where the intended path and obstacles cross.…”

Section: Related Workmentioning

confidence: 99%

“…This scenario is considered an environment whose dimensions are (100, 100) with three dynamic obstacle shapes; the initial positions of these obstacles are (40,30) moving toward (10,10)…”

Section: ) Dynamic Environmentmentioning

confidence: 99%

“…This scenario is considered an environment whose dimensions are (100, 100) with three dynamic obstacles and a moving target. The initial positions of these obstacles are (40,30) moving toward (80, 40), (60,60) moving toward (20,50), and (50, 90) moving toward (80, 80). The obstacles are moving in different directions.…”

Section: ) Dynamic Environment With Moving Targetmentioning

confidence: 99%

See 3 more Smart Citations

Path Planning and Trajectory Tracking Control for Two-Wheel Mobile Robot

Hassan,

Abed,

Al-Hussaibi

2023

Journal of Robotics and Control

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The mobile robot is a system that can work in various environments. This means that the robot must be able to navigate without delay and avoid any obstacles placed within the boundaries of its movement. Designing mobile robots that can be intelligently managed and operate autonomously when traveling from one place to another requires at least two steps. To start with, path planning is required to prevent motion collisions. Tracking the robot's trajectory is a crucial second task. The primary goal of this study is to find the quickest and safest path between the two positions. In this work, we investigated the path planning of a mobile robot with dynamic, and dynamic obstacles with moving goal environments using RRT, BiRRT, and HA* algorithms. These algorithms are easy, computationally inexpensive, and simple to use. They have been chosen for numerous real-time path-planning applications. The DDMR's kinematic model has been utilized in this paper to control path tracking, and a PID controller has been proposed to reduce tracking deviations between the robot's actual route and the reference trajectory. This work introduced the PSO, FPA, CSA, SSA, BWOA, and proposed HBPO optimization techniques for obtaining PID parameters (k_p,k_i,k_d) for improved mobile robot trajectory tracking. The simulation results have been examined using three trajectory shapes: step, circular, and infinite. The simulation findings reveal that HA* outperforms the other algorithms by generating collision-free pathways that are smoother and shorter than their RRT and BiRRT equivalents. On the other hand, the proposed HBPO outperforms the other methods. The HBPO method converges quicker than the other proposed algorithms.

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Section: Simulation and Results Of Control Trajectory Trackingmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

“…This scenario is considered an environment whose dimensions are (100, 100) with three dynamic obstacle shapes; the initial positions of these obstacles are (40,30) moving toward (10,10)…”

Section: ) Dynamic Environmentmentioning

confidence: 99%

Section: ) Dynamic Environment With Moving Targetmentioning

confidence: 99%

See 2 more Smart Citations

Path Planning and Trajectory Tracking Control for Two-Wheel Mobile Robot

Hassan,

Abed,

Al-Hussaibi

2023

Journal of Robotics and Control

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“…The choice of this control system is proved by its flexibility to solve the tracking trajectory problem for wheeled mobile robot. It is a powerful method to solve the tracking control problem [4], [6], [8]. The aim advantages of the proposed control law system that it has good robustness, low response time and high precision.…”

Section: Sliding Mode Control Approachmentioning

confidence: 99%

Turning Point and Free Segments Strategies for Navigation of Wheeled Mobile Robot

Hassani

Ergui

Rekik³

2022

IJRCS

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The basic idea of the developed work is to solve the problem of mobile robot navigation with obstacle avoidance and the trajectory tracking problem in simple and complex environments. The research contribution aims to develop a strategy of navigation based on the turning point and the free segments algorithms. Indeed, a turning point method is developed in order to solve the problem of navigation in a simple environment. Then, the free segments approach is applied in order to solve the problem of obstacle avoidance in a complex environment. The second part of this paper aims to solve the problem of trajectory tracking. For this reason, a sliding mode controller is proposed as a solution to control the stability of the mobile robot. Finally, some simulation results which are developed using Matlab software are given to prove the validity of the developed work.

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