Comparison between Waveform and Bug Path Planning Algorithm for Mobile Robot

Mobile robots frequently find themselves in a circumstance where they need to find a trajectory to another position in their environment, subject to constraints postured by obstacles and the capabilities of the robot itself. This study compared path planning algorithms for mobile robots to move effi...

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Bibliographic Details
Published in:Applied Mechanics and Materials Vol. 607; no. Machine Design and Manufacturing Engineering III; pp. 774 - 777
Main Authors: Su, Eileen Lee Ming, Tang, Swee Ho, Yeong, Che Fai
Format: Journal Article
Language:English
Published: Zurich Trans Tech Publications Ltd 01.07.2014
Subjects:
Algorithms
Borders
Computer programs
Obstacles
Path planning
Robots
Wave fronts
Waveforms
Wavefronts
Mobile Robot
Player/Stage
Path Planning
Wave Front Algorithm
Bug Algorithm
ISBN:9783038351801, 3038351806
ISSN:1660-9336, 1662-7482, 1662-7482
Online Access:Get full text
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Summary:Mobile robots frequently find themselves in a circumstance where they need to find a trajectory to another position in their environment, subject to constraints postured by obstacles and the capabilities of the robot itself. This study compared path planning algorithms for mobile robots to move efficiently in a collision free grid based static environment. Two algorithms have been selected to do the comparison namely wavefront algorithm and bug algorithm. The wavefront algorithm involves a breadth-first search of the graph beginning at the goal position until it reaches the start position. The bug algorithm uses obstacles borders as guidance toward a goal with restricted details about the environment. The algorithms are compared in terms of parameters such as execution time of the algorithm and planned path length by using Player/Stage simulation software. Results shown that wavefront algorithm is a better path planning algorithm compared to bug algorithm in static environment.
Bibliography:Selected, peer reviewed papers from the 2014 3rd International Conference on Machine Design and Manufacturing Engineering (3rd ICMDME 2014), May 24-25, 2014, Jeju Island, South Korea
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ISBN:9783038351801
3038351806
ISSN:1660-9336
1662-7482
1662-7482
DOI:10.4028/www.scientific.net/AMM.607.774