A Path Planning and Obstacle Avoidance Algorithm for an Autonomous Robotic Vehicle

Download or read book A Path Planning and Obstacle Avoidance Algorithm for an Autonomous Robotic Vehicle written by Sharayu Yogesh Ghangrekar and published by . This book was released on 2009 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: Path planning in robotics is concerned with developing the logic for navigation of a robot. Path planning still has a long way to go considering its deep impact on any robot's functionality. Various path planning techniques have been tried and tested earlier, including probabilistic, integral and genetic approaches. The implementation details of most of these algorithms are proprietary to specific organizations. The requirement of a customized strategy for collision free and concerted navigation of an All-Terrain Vehicle (ATV) led to the activities of this research. As a part of this research an algorithm has been developed and simulated to give a visual effect. The algorithm presented is evolutionary and capable of path planning for ATVs in the presence of completely known and newly-discovered obstacles. This algorithm helps the ATV to maneuver in an open field in a specific pattern and avoid the obstacles, if any, along its path. As part of the research the actual algorithm is implemented and simulated using C and WIN API. As a result, given the data of known obstacles and the field, the ATV can maneuver in a systematic and optimum manner towards its goal by avoiding all the obstacles in its path. This algorithm can also be deployed on an ATV using real time data from LIDAR and GPS. The logic of the algorithm can be extended for path planning in a completely dynamic environment.