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Page : 0 pages
File Size : 44,85 MB
Release : 2020
Category : Dissertations, Academic
ISBN :
Currently, robots are used to carry out dangerous tasks such as bomb detonations, spray painting, disaster management, and so on. To ensure sufficient robot navigation, various path-planning methods are available in the literature. These methods enable robots to create a collision-free path in their working environments. Such environments can be either static (laboratory) or dynamic (realistic). The available path planning methods differ with respect to latency, applicability, computational load, power consumption rates, and reliability. The ever-increasing applications of mobile robots require computable and efficient methods. However, most path planning methods are theoretical, not always reliable, and require huge computational resources, hence are not suitable for all real-time applications. This paper is aimed at studying and comparing some of the available and important path planning methods for autonomous mobile robots in terms of characteristics of path planning, such as graph-based methods, sample-based methods, and potential field methods. The paper compares path planning characteristics on a uniform performance index, by designing a comparison criterion. The performances of these methods are studied based on the designed framework, including running time, path solution, path length, and repeatability, Recommendations towards a feasible solution concerning the robot-working environment and the available resources are provided.