Abstract

For a robot operating in a given environment, the general problem of planning is to determine the robot motion allowing it to travel between two given configurations under a number of constraints and criteria. These arise from several factors of various kinds and often depend on the characteristics of the robot, the environment and the type of tasks to perform. Traditional trajectory planning approaches do not work in environment that is both dynamic and uncertain. Calculations are too numerous and complex to be executed in real time. Only purely reactive methods for obstacles avoidance are applicable. These are poorly suited to the consideration of tasks constraint like reaching a goal or a given position. Recent approaches tend to combine them in hybrid methods known as iterative methods or reduce the complexity of modeling the free space by statistical approaches. Our work consists of planning the movement of a mobile robot to reach a goal while avoiding obstacles in its path. We have proposed an approach to combine a local method (reactive) for obstacle avoidance with global planner type wavefront.
Keywords: mobile robot, planning, obstacle avoidance, dynamic environment.

Information

Item Type:	Thesis
Divisions:
ePrint ID:	1045
Date Deposited:	2017-12-31
Further Information:	Google Scholar
URI:	https://www.univ-soukahras.dz/en/publication/article/1045

BibTex