Modeling and simulation of a real time path planner
Nishit Shankar, Subhasis Behera · 2008
This paper discusses the mathematical models & MATLAB simulations of an autonomous robot platform capable of reaching a desired destination starting from a known position in an environment filled with global as well as real time obstacles. Traditionally, such systems use 12 to 24 distance measuring ultrasonic sensors mounted circumferentially around the robot chassis. The modified ranging technique used here maintains similar efficiency as the traditional systems but the number of ultrasonic sensors used to map the environment is reduced to one. The results have been verified by performing simulations. Our results show an increase in efficiency and cost reduction in designing of a real time path planner. The results from the MATLAB simulations demonstrate the benefits of the proposed algorithm. The proposed model is more economical than other models and has many applications in the modern society.