Development of Path Planning Approach for Mobile Robot In Static Environment
Ibrahim, K., Saad, A., Abo El-Lail, A., Zidane, I. (2025). Development of Path Planning Approach for Mobile Robot In Static Environment. EKB Journal Management System, 53(2), 45-63. doi: 10.21608/jesaun.2025.342727.1388
khalil Ibrahim; Ahmed Saad; Aly S. Abo El-Lail; Issa Zidane. "Development of Path Planning Approach for Mobile Robot In Static Environment". EKB Journal Management System, 53, 2, 2025, 45-63. doi: 10.21608/jesaun.2025.342727.1388
Ibrahim, K., Saad, A., Abo El-Lail, A., Zidane, I. (2025). 'Development of Path Planning Approach for Mobile Robot In Static Environment', EKB Journal Management System, 53(2), pp. 45-63. doi: 10.21608/jesaun.2025.342727.1388
Ibrahim, K., Saad, A., Abo El-Lail, A., Zidane, I. Development of Path Planning Approach for Mobile Robot In Static Environment. EKB Journal Management System, 2025; 53(2): 45-63. doi: 10.21608/jesaun.2025.342727.1388

Development of Path Planning Approach for Mobile Robot In Static Environment

JES. Journal of Engineering Sciences
Article 3, Volume 53, Issue 2, March and April 2025, Page 45-63  XML PDF (921.03 K)
Document Type: Research Paper
DOI: 10.21608/jesaun.2025.342727.1388
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Authors
khalil Ibrahim email 1; Ahmed Saad2; Aly S. Abo El-Lail3; Issa Zidane2
1Mechatronics Engineering Dept., Faculty of Engineering, Assiut University, Assiut, Egypt / Faculty of Industry and Energy Technology, New Assiut Technological University (NATU), New Assiut city, Egypt.
2Mechatronics Engineering Dept., Faculty of Engineering, Assiut University, Assiut, Egypt.
3Mechanical Engineering Dept., Faculty of Engineering, Assiut University, Assiut, Egypt.
Abstract
Self-motion Robots and their static environments are the main topics for trajectory planning researchers, especially when the environments contain static and movable obstacles that make the robots' mission harder to reach their target. Therefore, accurate and comprehensive knowledge of autonomous robots' control strategies makes us take the basic steps to build our approach in mobile robot trajectory planning. Accordingly, in this research paper, we will provide an accurate detail of two path planning algorithms A star and 4_sector wavefront algorithms. Some modifications and improvements to its software structure for each algorithm will reduce the time it takes for the robot to reach the desired goal, taking into account the presence of obstacles in the map that is dealt with and how to avoid collision with it, especially dead-end obstacles, which cause the robot to enter into a state of making wrong decisions that can lead to a collision or a significant waste of time required to reach the specified goal. The simulation results of the A-star algorithm and 4_sector wavefront methods using MATLAB program are achieved in different ways using inputs via camera, then image processing is applied to determine the locations of obstacles, starting point, free space, and target point for the robot without any position error. The wavefront algorithm takes a shorter time than the A-star method to reach the final position.
Keywords
Path planning; Image processing; A_star algorithm; Matlab software wavefront method
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