17-12-2025
جامعة الملك عبدالعزيز
KING ABDULAZIZ UNIVERSITY
Faculty of Computing and Information Technology
Document Details
Document Type
:
Article In Journal
Document Title
:
SENSOR BASED PATH PLANNING OF MINI-ROBOT “KHEPERA” USING PHYSICAL A* (PHA*) ALGORITHM
تخطيط المسار للروبوت الصغير ( KHEPERA) بالإعتماد على أجهزة الاستشعار وباستخدام خوارزمية A* (PHA*))
Subject
:
sensor path planning
Document Language
:
English
Abstract
:
This paper is concerned with the issue of enabling robots (mechanical devices equipped with actuators and sensors under the control of a computing system) to decide their own motion and to find the shortest path between two points in the unknown environments using the Physical A* algorithm (PHA*). Due to the physical nature of the problem, the complexity of the PHA* algorithm is measured by the traveling effort of the moving robot and not by the number of generated nodes. PHA* is presented as a two-level algorithm, such that it’s high level, A*, chooses the next node to be expanded and its low level directs the robot to that node in order to explore it. We then applied this algorithm in the control protocol of mini robot called “Khepera” developed to study robotics technology for different applications. The results show the ability of the algorithm to let “khepera” maneuver successfully among obstacles founded in its environment without colliding them and to compute the shortest path to the goal configuration. Thus, it is recommended to apply PHA* algorithm on a group of robots to help them moving from one place to another to carry out some complex tasks. This study has been concluded with the hardware.
ISSN
:
2078-0257
Journal Name
:
Journal of Mathematics and Technology
Volume
:
2
Issue Number
:
4
Publishing Year
:
1433 AH
2012 AD
Article Type
:
Article
Added Date
:
Saturday, June 23, 2012
Researchers
Researcher Name (Arabic)
Researcher Name (English)
Researcher Type
Dr Grade
Email
محمد عبدالوهاب
Mohamed, Mohamed
Investigator
wahabms@fcisonline.net
سيد فضل
Fadel, Sayed
Researcher
sayed_fadel@yahoo.com
Sara Yousef Serry
Serry, Sara Yousef
Researcher
syserry@hotmail.com
Files
File Name
Type
Description
33709.pdf
pdf
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