WSEAS Transactions on Signal Processing
Print ISSN: 1790-5052, E-ISSN: 2224-3488
Volume 10, 2014
Implementation of Laser Simulator Search Graph Approach for Detection and Path Planning in Roundabout Environments
Authors: , ,
Abstract: In this paper, a Laser simulator search graph approach for free-path search graph in complex unstructured environments has been developed and implemented for a robust mobile robot navigation system through the roundabout environments settings. The principle and methodology of laser simulator approach was clearly presented and explained for visibility searching of the optimum path in unknown environments with existence of some motion constraints and rules. The proposed approach gives the possibility for mobile robot to effectively track the path when countering a roundabout with and without obstacle and considering a number of scenarios. The algorithm is applied into tow kinds of setup: first it is simulated using MATLAB with the grid map used to create the road roundabout environment and select the path according to the respective road rules. Secondly it is used to recognize the roundabout in the real roundabout from sequence of images and enable the mobile robot for making decision process. From the results, it is verified that the performance of the proposed approach is excellent and that the mobile robot is able to track the best path from the selected start position to the goal point even in the presence of the obstacles.
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Keywords: Path Planning, Free-Collision Search Path, Laser Simulator (LS), Road Roundabout, Road Curbs, MATLAB
Pages: 106-115
WSEAS Transactions on Signal Processing, ISSN / E-ISSN: 1790-5052 / 2224-3488, Volume 10, 2014, Art. #11