| Autor: |
Albaghdadi, Mustafa Fahem, Manaa, Mehdi Ebady, Albaghdadi, Ahmed Fahem |
| Předmět: |
|
| Zdroj: |
AIP Conference Proceedings; 2/27/2023, Vol. 2776 Issue 1, p1-17, 17p |
| Abstrakt: |
Path planning within three-dimensional environments is of great importance in contemporary time due to the introduction of robots in many works. Finding the shortest path reduces fuel and time. In this paper a new algorithm is proposed to plan the paths within 3D environments. The algorithm was tested in two ways: simulation and practical. A multi-propeller vehicle is built that can track the resulting path from the proposed algorithm. The spherical shape of the robot, and obstacles is the basic of the work of the proposed algorithm. This does not mean that the algorithm cannot handle other forms of obstacles. Any other shape can be represented by a set of intersecting spheres. The resulting path of this proposed algorithm consists of two pieces that can be repeated a number of times until reaching the target point. The first piece is a straight path connecting the current position of the robot with a point located on the edge of the obstacle. The second piece is a path around the obstacle connecting two points away from the obstacle with a distance equal to the radius of the robot. All points are calculated by equations derived in this paper. The proposed algorithm was compared with two other algorithms. The results proved the superiority of the proposed algorithm in terms of path length and smoothness of the path. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
|
