Abstract
This paper is devoted to find an intelligent and safe path for two-link robotic arm in dynamic environment. This paper focuses on computational part of motion planning in completely changing dynamic environment at every motion sample domains, since the local minima and sharp edges are the most common problems in all path planning algorithms. In addition, finding a path solution in a dynamic environment represents a challenge for the robotics researchers, so in this paper, a proposed mixing approach was suggested to overcome all these obstructions. The proposed approach methodology for obtaining robot interactive path planning solution in known dynamic environment utilizes the use of modified heuristic D-star (D*) algorithm based on the full free Cartesian space analysis at each motion sample with the Particle Swarm Optimization (PSO) technique. Also, a modification on the D* algorithm has been done to match the dynamic environment requirements by adding stop and return backward cases which is not included in the original D* algorithm theory. The resultant interactive path solution was computed by taking into consideration the time and position changes of the moving obstacles. Furthermore, to insure the enhancement of the final path length optimality, the PSO technique was used. The simulation results are given to show the effectiveness of the proposed method.
Highlights
This paper focuses on computational part of motion planning in completely changing dynamic environment at every motion sample domains, since the local minima and sharp edges are the most common problems in all path planning algorithms
The proposed approach methodology for obtaining robot interactive path planning solution in known dynamic environment utilizes the use of modified heuristic D-star (D*) algorithm based on the full free Cartesian space analysis at each motion sample with the Particle Swarm Optimization (PSO) technique
Because of the known position and time motion behavior of the obstacles, the process of the path planning can be made off-line, the PSO optimization technique can plays an important role for finalizing this process and finding the best possible shortest and optimal path to get rid of the heuristic sharp path edges
Summary
It is used to indicate the type of computational process for moving a robot from one place to another with respect to obstacles In other words, it represents the search for initial feasible path which is considered as the first step to solve the path planning problem and includes finding a path for a robot that must move from initial given start point to the goal point which is given as the destination position. The second type is called a partially known dynamic environment when not all information about the obstacles exists at the planning time. In this state, it needs to calculate the robot motion according to insufficient information about the environment. The structure of this paper contains seven sections in addition to the introduction, Related Research work, two-link robot arm kinematics, free Cartesian space analysis, proposed method, simulation results, and conclusions
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