Global Vision Based Path Planning for AVGs Using A* Algorithm

Mahmut DİRİK; A. Fatih KOCAMAZ

Makale detayları

Global Vision Based Path Planning for AVGs Using A* Algorithm

Yazarlar:

Mahmut DİRİK | A. Fatih KOCAMAZ

Yayıncı:

Mahmut DİRİK

Ana Başlıklar:

Veri işleme & bilgisayar bilimi

Dergi:

Journal of Soft Computing and Artificial Intelligence 2020 Vol.1 Issue 1, pp.18-27

Belge Tipi:

Makale

Yayın Tarihi:

6/2020

Belge Dili:

İngilizce

Document ID (Org No.):

2000497584

Sıklık:

İki Yıllık

pISSN:

2717-8226

Özet:

 

One of the most studied problems in robotics is robot path planning. Many strategies have been invented. Image processing and machine vision technology also have been utilized in this regard. Studies are still underway to improve path planning methods. This paper proposes an implementing visual servoing-based technique using the A* algorithm to achieve efﬁcient searching capabilities of path planning in complicated maps with a combination of LabVIEW and MATLAB software. The proposed algorithm is divided into three parts. Firstly, the environment model or robot motion environment is conducted. In this stage, the visual information extracted from a single ceiled camera. Secondly, the position and orientation of the objects (robot, obstacles etc.) under the visibility of the camera are generated from visual information. Thirdly, the A* algorithm is used as a path planning method. This algorithm is not guaranteed the generated path to be safe and desirable with obstacle-free. To solve this problem image processing techniques are utilized. This gives an effective improvement and high performance to A* in a complex environment and gives a safe path as a comparison to the traditional version of A*. The experimental results, considering the optimal path lengths and execution time, show that the proposed design is more effective and faster to generate the shortest path.

Makale detayları

Global Vision Based Path Planning for AVGs Using A* Algorithm

Yazarlar: Mahmut DİRİK | A. Fatih KOCAMAZ

Yayıncı: Mahmut DİRİK

Ana Başlıklar: Veri işleme & bilgisayar bilimi

Dergi: Journal of Soft Computing and Artificial Intelligence 2020 Vol.1 Issue 1, pp.18-27

Belge Tipi: Makale

Yayın Tarihi: 6/2020

Belge Dili: İngilizce

Document ID (Org No.): 2000497584

Sıklık: İki Yıllık

pISSN: 2717-8226

Sayı

Yazarlar:

Mahmut DİRİK | A. Fatih KOCAMAZ

Yayıncı:

Mahmut DİRİK

Ana Başlıklar:

Veri işleme & bilgisayar bilimi

Dergi:

Journal of Soft Computing and Artificial Intelligence 2020 Vol.1 Issue 1, pp.18-27

Belge Tipi:

Makale

Yayın Tarihi:

6/2020

Belge Dili:

İngilizce

Document ID (Org No.):

2000497584

Sıklık:

İki Yıllık

pISSN:

2717-8226