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FIRA RoboWorld Congress

FIRA 2013: Intelligent Robotics Systems: Inspiring the NEXT pp 1–10Cite as

Simulation of Dynamic Path Planning for Real-Time Vision-Base Robots

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Part of the book series: Communications in Computer and Information Science ((CCIS,volume 376))

Abstract

Mobile robots work in unfamiliar and unconstructed environments with no previous knowledge. In order to prevent any collisions between the robot and the other objects, dynamic path planning algorithms are presented. Researchers have been presenting new algorithms to overcome the dynamic path planning dilemma, continuously. Most of the time, the prepared algorithm cannot be implemented to the robot directly, since potential problems in the algorithm may lead to endanger the robot or cause other safety difficulties. Hence, it is preferred to test and examine the robot’s behaviour in a simulated environment, before the empirical test. In this paper, we propose a simulation of dynamic path planning algorithm. As a result of this work, D* algorithm is implemented with four different two-dimensional map modeling methods of Square Tiles, Hexagons, Enhanced Hexagons, and Octiles. Then the simulation results are compared based on their speed, number of searched cells, path cost and traveled distance, to point out the most effective map modeling methods.

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Author information

Authors and Affiliations

  1. Centre for Artificial Intelligence and Robotics, Universiti Teknologi Malaysia, Kuala Lumpur, Malaysia

    Mohd Fauzi Othman, Masoud Samadi & Mehran Halimi Asl

Authors
  1. Mohd Fauzi Othman
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  2. Masoud Samadi
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  3. Mehran Halimi Asl
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Editor information

Editors and Affiliations

  1. Center for Artificial Intelligence Technology, Faculty of Information Science and Technology, Universiti Kebangsaan Malaysia, 43600, Bangi, Selangor, Malaysia

    Khairuddin Omar  & Mohammad Faidzul Nasrudin  & 

  2. Center for Artificial Intelligence Technology, Faculty of Information Science and Technology, Universiti Kebangsaan Malaysia, 43600 UKM, Bangi, Selangor, Malaysia

    Md Jan Nordin

  3. National University of Singapore, Singapore

    Prahlad Vadakkepat

  4. Center for Artificial Intelligence Technology (CAIT), Faculty of Information Science and Technology, Universiti Kebangsaan Malaysia, 43600 UKM, Bangi, Selangor D.E., Malaysia

    Anton Satria Prabuwono  & Siti Norul Huda Sheikh Abdullah  & 

  5. Autonomous Agents Lab, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    Jacky Baltes

  6. Center for Artificial Intelligence and Robotics (CAIRO), Fakulti Kejuruteraan Elektrik, Universiti Teknologi Malaysia, 81310 UTM, Skudai, Johor, Malaysia

    Shamsudin Mohd Amin

  7. Department of Electrical & Electronics Engineering, Faculty of Engineering, University Putra Malaysia, 43400 UPM, Serdang, Selangor

    Wan Zuha Wan Hassan

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© 2013 Springer-Verlag Berlin Heidelberg

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Othman, M.F., Samadi, M., Asl, M.H. (2013). Simulation of Dynamic Path Planning for Real-Time Vision-Base Robots. In: Omar, K., et al. Intelligent Robotics Systems: Inspiring the NEXT. FIRA 2013. Communications in Computer and Information Science, vol 376. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40409-2_1

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  • DOI: https://doi.org/10.1007/978-3-642-40409-2_1

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40408-5

  • Online ISBN: 978-3-642-40409-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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