Path planning of mobile robot for autonomous navigation of road roundabout intersection
The aim of this research is to develop a robust navigation system for mobile robot in a road roundabout setting using laser range finder (LRF) and vision system. A new algorithm for combining the LRF and vision system is investigated to detect the open space area in a road roundabout. The study focu...
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my.utm.473612019-03-31T08:38:25Z http://eprints.utm.my/id/eprint/47361/ Path planning of mobile robot for autonomous navigation of road roundabout intersection Ali, M. A. H. Mailah, Musa Tang, Howe Hing TJ Mechanical engineering and machinery The aim of this research is to develop a robust navigation system for mobile robot in a road roundabout setting using laser range finder (LRF) and vision system. A new algorithm for combining the LRF and vision system is investigated to detect the open space area in a road roundabout. The study focuses on the simulation and experimentation of the mobile robot ability to effectively track the path when countering a roundabout with and without obstacle and considering a number of scenarios. The system is simulated using MATLAB with the grid map used to create the road roundabout environment and select the path according to the respective road rules. The experiments are performed using simple platform with laser range finder and the data are processed in real-time in Matlab. Good results from both simulation and experiments show the effectiveness of the proposed algorithm. 2012 Article PeerReviewed Ali, M. A. H. and Mailah, Musa and Tang, Howe Hing (2012) Path planning of mobile robot for autonomous navigation of road roundabout intersection. International Journal of Mechanics, 6 (4). pp. 203-211. ISSN 1998-4448 |
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TJ Mechanical engineering and machinery Ali, M. A. H. Mailah, Musa Tang, Howe Hing Path planning of mobile robot for autonomous navigation of road roundabout intersection |
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The aim of this research is to develop a robust navigation system for mobile robot in a road roundabout setting using laser range finder (LRF) and vision system. A new algorithm for combining the LRF and vision system is investigated to detect the open space area in a road roundabout. The study focuses on the simulation and experimentation of the mobile robot ability to effectively track the path when countering a roundabout with and without obstacle and considering a number of scenarios. The system is simulated using MATLAB with the grid map used to create the road roundabout environment and select the path according to the respective road rules. The experiments are performed using simple platform with laser range finder and the data are processed in real-time in Matlab. Good results from both simulation and experiments show the effectiveness of the proposed algorithm. |
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Article |
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Ali, M. A. H. Mailah, Musa Tang, Howe Hing |
author_facet |
Ali, M. A. H. Mailah, Musa Tang, Howe Hing |
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Ali, M. A. H. |
title |
Path planning of mobile robot for autonomous navigation of road roundabout intersection |
title_short |
Path planning of mobile robot for autonomous navigation of road roundabout intersection |
title_full |
Path planning of mobile robot for autonomous navigation of road roundabout intersection |
title_fullStr |
Path planning of mobile robot for autonomous navigation of road roundabout intersection |
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Path planning of mobile robot for autonomous navigation of road roundabout intersection |
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path planning of mobile robot for autonomous navigation of road roundabout intersection |
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2012 |
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http://eprints.utm.my/id/eprint/47361/ |
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1643652297629106176 |
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