Picture of a black hole

Strathclyde Open Access research that creates ripples...

The Strathprints institutional repository is a digital archive of University of Strathclyde's Open Access research outputs. Strathprints provides access to thousands of research papers by University of Strathclyde researchers, including by Strathclyde physicists involved in observing gravitational waves and black hole mergers as part of the Laser Interferometer Gravitational-Wave Observatory (LIGO) - but also other internationally significant research from the Department of Physics. Discover why Strathclyde's physics research is making ripples...

Strathprints also exposes world leading research from the Faculties of Science, Engineering, Humanities & Social Sciences, and from the Strathclyde Business School.

Discover more...

Real-time path planning optimisation algorithm for obstacle avoidance

Hur, S. and Petropoulakis, L. (2006) Real-time path planning optimisation algorithm for obstacle avoidance. In: International Control Conference (ICC2006). University of Strathclyde, Glasgow, pp. 62-68. ISBN 0947649549

[img]
Preview
PDF
Real_TimePath_Planning.pdf

Download (321kB) | Preview

Abstract

This paper presents a new real-time path planning algorithm suitable for implementation on small mobile robots to aid navigation in unknown environments. The Random Obstacle Avoidance (R.O.A) algorithm was developed for small robots and it can be used as the basis for mapping the environment. The algorithm has been tested through a specially developed simulation environment using MATLAB. The main characteristics of the algorithm are simplicity, ease of implementation, speed, and efficiency.