title: Dynamic path planning algorithm for autonomous mobile robot with a minimum number of turns in unknown environment
metadata.name: dc.contributor.author
metadata.value: Rego, Grigorij E.
metadata.lang: -
metadata.name: dc.contributor.author
metadata.value: Voronov, Roman V.
metadata.lang: -
metadata.name: dc.date.accessioned
metadata.value: 2023-08-22T17:34:30Z
metadata.lang: -
metadata.name: dc.date.available
metadata.value: 2023-08-22T17:34:30Z
metadata.lang: -
metadata.name: dc.date.issued
metadata.value: 2023-06
metadata.lang: -
metadata.name: dc.identifier.citation
metadata.value: Rego G. E., Voronov R. V. Dynamic path planning algorithm for autonomous mobile robot with a minimum number of turns in unknown environment. Vestnik of Saint Petersburg University. Applied Mathematics. Computer Science. Control Processes, 2023, vol. 19, iss. 2, pp. 264–274.
metadata.lang: en_GB
metadata.name: dc.identifier.other
metadata.value: https://doi.org/10.21638/11701/spbu10.2023.211
metadata.lang: -
metadata.name: dc.identifier.uri
metadata.value: http://hdl.handle.net/11701/43833
metadata.lang: -
metadata.name: dc.description.abstract
metadata.value: The article is devoted to the problem of reactive navigation of a mobile robot with limited information about the environment. An algorithm for finding a path from source to the target with a minimum number of turns is described. The idea of the algorithm is based on the bug family of algorithms for reactive navigation. The mobile robot remembers the boundaries of obstacles and calculates the angle of rotation depending on the surrounding situation. The difference from bug algorithms is that the robot does not move “along the obstacle”, but turns only in a limited number of cases. The results of testing the algorithm on simulated polygons are presented. Models of fallen trees, stumps and swamps were considered as obstacles. The performance of the algorithm is evaluated by comparing the minimum possible number of turns with the number of turns in the path obtained using the algorithm.
metadata.lang: en_GB
metadata.name: dc.language.iso
metadata.value: en
metadata.lang: en_GB
metadata.name: dc.publisher
metadata.value: St Petersburg State University
metadata.lang: en_GB
metadata.name: dc.relation.ispartofseries
metadata.value: Vestnik of St Petersburg University. Applied Mathematics. Computer Science. Control Processes;Volume 19; Issue 2
metadata.lang: -
metadata.name: dc.subject
metadata.value: path planning
metadata.lang: en_GB
metadata.name: dc.subject
metadata.value: mobile robot
metadata.lang: en_GB
metadata.name: dc.subject
metadata.value: reactive navigation
metadata.lang: en_GB
metadata.name: dc.title
metadata.value: Dynamic path planning algorithm for autonomous mobile robot with a minimum number of turns in unknown environment
metadata.lang: en_GB
metadata.name: dc.type
metadata.value: Article
metadata.lang: en_GB
resources.filename: 11.pdf
resources.url: https://dspace.spbu.ru/bitstream/11701/43833/1/11.pdf
resources.format: Adobe PDF
resources.size: 535,83 kB