Modified virtual semi-circle path planning

The challenging part of path planning for an Unmanned Ground Vehicle (UGV) is to conduct a reactive navigation. Reactive navigation is implemented to the sensor based UGV. The UGV defined the environment by collecting the information to construct it path planning. The UGV in this research is known as Mobile Guard UGV-Truck for Surveillance (MG-TruckS). Modified Virtual Semi Circle (MVSC) helps the MG-TruckS to reach it predetermined goal point successfully without any collision. MVSC is divided into two phases which are obstacles detection phase and obstacles avoidance phase to compute an optimal path planning. MVSC produces shorter path length, smoothness of velocity and reach it predetermined goal point successfully

Path planning for mobile robot based on reactive collision avoidance method

Background: The number of research regarding local path planning of the Unmanned Ground Vehicle (UGV) is increasing widely. The Modified Virtual Semi Circle (MVSC) approach is proposed for real-time path planning. This research proposes the implementation of five ultrasonic range finder sensors with a very small blind zone existence in the sensor arrangement. The navigation of the mobile robot depends on the position of the mobile robot in the influence zone area. The formation of three layers of influence zone shows the optimized path planning without making any unnecessary obstacle avoidance presence. Objective: The purpose of this paper is to navigate a cost effective UGV known as MG-TruckS with optimal path planning. Results: The implementation of MVSC produced shortest path, smoothness of the velocity and successfully avoids collision with the obstacles to reach it predetermined target. Conclusion: MVSC propose a simple path planning that requires low computational cost and do not demand for a very large memory

Modified virtual semi-circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment

There are numerous numbers of methods that have been introduced to the Unmanned Ground Vehicle (UGV) to find its optimal path. The purpose of this paper is to navigate a cost effective UGV known as MG-TruckS with optimal path planning in an outdoor environment. A Modified Virtual Semi Circle approach is proposed based on situated-activity paradigm. This approach is divided into two phase to compute a free collision path planning; detection and avoidance phase. Implementation of five ultrasonic range finder sensors with a very small blind zone created on purpose and the formation of three layers of influence zone shows the optimized path planning without making any unnecessary obstacle avoidance being computed