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Abstract
Currently, problems of autonomous wheeled mobile robots in unknown environments are great challenge. Obstacle avoidance and path planning are the back bone of autonomous control as it makes robot able to reach its destination without collision. Dodging obstacles in dynamic and uncertain environment is the most complex part of obstacle avoidance and path planning tasks. This work deals with the implementation of an easy approach of static and dynamic obstacles avoidance. The robot starts by executing a free optimal path loaded into its controller; then, it uses its sensors to avoid the unexpected obstacles which may occur in that path during navigation.
Highlights
Robotics helps human in difficult, repetitive or tedious tasks
A path planning and obstacle avoidance approach using parametric curves was used for the generation of the predetermined path that the robot should follow [4]
Non-uniform rational B-spline (NURBS) curves were used to smooth the path, as they preserve the C2 continuity of the trajectory which is very important for the robot dynamic
Summary
Robotics helps human in difficult, repetitive or tedious tasks. It is the dream of substituting the machine to man in these tasks. Navigation of mobile robots in dynamic environments still represents a challenge for real world applications. The problem of autonomous navigation has been deeply studied in literature and several techniques have been developed. These techniques use probabilistic and complex algorithms which are hard to implement and requires specific sets of hardware and software [1], [2]. A strategy enabling the robot to navigate in dynamic environment considering the uncertain obstacles is proposed. Be saved in the internal memory of a robot and run repeatedly; and at the same time avoiding unexpected obstacles (and dynamic ones)
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