Abstract:
This study discusses a novel approach to resolve outstanding problems in robotics which is to integrate robots’ dimensions in path planning. The approach which is presented in this study allows any path-planning algorithm with the capability to integrate the robot’s physical dimensions into the optimal path-planning procedure. This ensures that the plant path will be collision-free. One main advantage of this approach is its ability to integrate robot size with existing path planning algorithms without any modifications, all major modifications to path planning algorithms themselves. It is important to mention here that the approach which is mentioned in this study does not need any sensor or prior knowledge of the obstacles since it uses image processing techniques to identify the object positions in 2-D binary maps and it uses mathematical models to evaluate the passage width to identify passages which are suitable for the robot to traverse based on the robots’ physical dimensions. To test the effectiveness of the image processing techniques that are deployed to identify the obstacle position and identify the passage width the algorithm is tested on various simulated environments which include uniform and non-uniform convex, and concave spaces, and to test on a specific case the algorithm is also tested on maze-like structures the successful outcome of these testing constitutes do the robustness of the approach in real-world scenarios. To summarize the novel approach discussed in this study makes up a significant advancement in the research area of robotics by addressing the outstanding problem of integrating robot dimensions into existing path planning algorithms this allows the algorithms to increase their effectiveness efficiency and Safety in path planning in dynamic and diverse environments. With this robustness and potential for broad adoption, the approach allows a promising future of automation and autonomy.
