Publication Type:

Conference Paper

Source:

2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), IEEE, Kollam, India (2017)

ISBN:

9781509049677

URL:

https://ieeexplore.ieee.org/document/8074365

Keywords:

Automobiles, Autonomous Mobile Robot (AMR), car moves, car-like robot, CarLike Mobile Robot (CLMR), Collision avoidance, dynamic situations, dynamic target tracking, four-wheeled mobile robot, kinematic model, Mobile robots, moving target, nonholonomic constraints, obstacle avoidance, optimal control, optimal path planning technique, Path Planning, Rapidly exploring Random Tree (RRT), robot dynamics, robot kinematics, RRT, smoothed Rapidly exploring Random Tree path planning technique, smoothed RRT, Target tracking, Trees (mathematics), Wheels

Abstract:

A car-like robot that tracks a moving target by following smoothed Rapidly exploring Random Tree (RRT) path planning technique is developed. Mobile robot can track the target by avoiding obstacles on its path. Moving target can also be efficiently tracked by the robot. Case studies are done in dynamic situations. Kinematic model is considered for the mobile robot and the velocity with which the left and right wheels of the car moves are observed using simulation. The model of the system and the path planning algorithm including all case studies has been simulated and the required results are obtained.

Cite this Research Publication

K. R. Jayasree, Jayasree P. R., and A. Vivek, “Dynamic target tracking using a four wheeled mobile robot with optimal path planning technique”, in 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), Kollam, India, 2017.