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Two New Methods for Path Planning of Autonomous Mobile Robot

Author Affiliations

  • 1Department of New Sciences and Technologies, University of Tehran, Tehran, IRAN
  • 2 Department of Computer and Electrical Engineering, University of Tehran, Tehran, IRAN
  • 3 Department of Electrical Engineering, Amirkabir University of Technology, Tehran, IRAN
  • 4 Department of Electrical Engineering, Sharif University of Technology, Tehran, IRAN

Res. J. Recent Sci., Volume 3, Issue (5), Pages 110-115, May,2 (2014)

Abstract

This paper investigates four methods for finding shortest path between source and destination in a specific environment. For the known gradient method, we have propped a way to reduce the computational complexity of gradient field. Besides, the proposed method attempts to find the optimal path starting from a suboptimal path with the lowest computations. The considered robot is a mobile robot with three freedom degrees in two-dimensional environment. This will cause the isolation of the angle of trajectory path. The result of the simulations of the methods shows that the new approach provides an appropriate method for mobile robot routing in comparison to other methods.

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