A trapezoid-based path planning algorithm for mobile robot research

Бурибаев, Аброр, Султанов, Джамшид, Жониев, Акмал

Рақамли технологияларнинг назарий ва амалий масалалари · 2024-yil

Annotatsiya

Exploration of an unknown environment by a mobile robot during SLAM processes is a fundamental challenge. In this study, an extended iteration of the Rmap algorithm is presented by modifying its Exploration submodule. Although the previous Rmap algorithm effectively reduces the grid map overhead, its Exploration module is expensive due to the rectangle following algorithm. To overcome this limitation, a new algorithm for autonomous path planning of mobile robots in unknown environments is introduced. The new algorithm uses the concept of paired boundaries to facilitate efficient navigation and expand the exploration area of the robot. In each exploration round, the mobile robot uses the range of its sensors to detect boundaries. By periodically adjusting the sensor range, the algorithm generates pairs of interior boundaries. The length of each boundary and the corresponding pair is calculated, which allows the new algorithm to select the target point for robot navigation. The experimental results demonstrate the effectiveness and applicability of the new algorithm in terms of exploration time and distance. Compared with the previous algorithms, the new algorithm provides significant improvements. The path distance required to complete the entire exploration is reduced by 15% to 69%, and the time cost is reduced by 12% to 86%. These results highlight the effectiveness of the proposed algorithm in optimizing the exploration process of mobile robots in unknown environments.

Maqola ma’lumotlari
MualliflarБурибаев, Аброр, Султанов, Джамшид, Жониев, Акмал
JurnalРақамли технологияларнинг назарий ва амалий масалалари
NashriyotТАТУ Самарқанд филиали
ISSN2181-3086, 2181-3094
Nashr sanasi2024-10-09
Jild7
Son3
Betlar84-91
TilIngliz
Ilmiy sohaTexnika
DOI10.62132/ijdt.v7i3.200
Indeksga qo‘shilgan2026-08-26

DOI: 10.62132/ijdt.v7i3.200 · Maqolaning asl sahifasi

Kalit so‘zlar

алгоритм, планирование пути, мобильные роботы, алгоритм Rmap, algorithm, path planning, mobile robots, Rmap algorithm

Ilmiy soha

Texnika

Iqtibos keltirish

APAБурибаев, Аброр, Султанов, Джамшид, & Жониев, Акмал (2024). A trapezoid-based path planning algorithm for mobile robot research. Рақамли технологияларнинг назарий ва амалий масалалари, 7(3), 84-91. https://doi.org/10.62132/ijdt.v7i3.200
GOST (OAK)Бурибаев, Аброр, Султанов, Джамшид, Жониев, Акмал A trapezoid-based path planning algorithm for mobile robot research // Рақамли технологияларнинг назарий ва амалий масалалари. – 2024. – T. 7, № 3. – P. 84-91. – DOI: 10.62132/ijdt.v7i3.200.
MLAБурибаев, Аброр, Султанов, Джамшид, and Жониев, Акмал. “A trapezoid-based path planning algorithm for mobile robot research.” Рақамли технологияларнинг назарий ва амалий масалалари, 7(3), 84-91, 2024. https://doi.org/10.62132/ijdt.v7i3.200
ChicagoБурибаев, Аброр, Султанов, Джамшид, and Жониев, Акмал. “A trapezoid-based path planning algorithm for mobile robot research.” Рақамли технологияларнинг назарий ва амалий масалалари, 7(3), 84-91 (2024). https://doi.org/10.62132/ijdt.v7i3.200
HarvardБурибаев, Аброр, Султанов, Джамшид, and Жониев, Акмал (2024) ‘A trapezoid-based path planning algorithm for mobile robot research’, Рақамли технологияларнинг назарий ва амалий масалалари, 7(3), 84-91. https://doi.org/10.62132/ijdt.v7i3.200
BibTeX
@article{article2024,
  title = {A trapezoid-based path planning algorithm for mobile robot research},
  author = {Бурибаев, Аброр and Султанов, Джамшид and Жониев, Акмал},
  journal = {Рақамли технологияларнинг назарий ва амалий масалалари},
  year = {2024},
  volume = {7},
  number = {3},
  pages = {84-91},
  doi = {10.62132/ijdt.v7i3.200},
  url = {https://doi.org/10.62132/ijdt.v7i3.200}
}

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