| Popis: |
In this paper, three path planning algorithms and the comparison between them are described in terms of processing time and path distance values. The algorithms which are used in this paper are, Genetic Algorithm (GA), Bidirectional Rapidly-Exploring Random Tree (BRRT) algorithm and Potential Field algorithm. According to the simulation results which are obtained based on MATLAB simulation, the performance of the designed potential field algorithm is better than the other ones in terms of processing time and the path distance values. Indeed, the designed potential field algorithm is considered as the one that is chosen to be used in vision based control process. The proposed process is used to path finding for a spherical rolling robot, which is named TSR. A fixed camera on top of the proposed robot's workspace is connected to a laptop, which is used as the main core of vision based control processor unit. The experimental results based on implementing the potential field approach as path planning algorithm, verified the desirable performance of it in terms of finding a short and accurate path in an acceptable time. Finally, the effect of using the proposed vision based control method is assessed. The experimental results based on combining the aforementioned control methods verified the significant performance of the propounded spherical rolling robot in terms of path finding and following. |
