تخطيط حركة روبوت متنقل باستخدام خوارزميات Bug
Abstract
يعتبر تخطيط الحركة من القضايا الهامة والملحة لما يعطيه للروبوت من قدرة على الوصول إلى الهدف بشكل آلي ومنع الاصطدام بأي عائق، مما يرفع من أداء الروبوت ويقلل من كلفته التشغيلية. ويقسم تخطيط حركة الروبوت عادةً إلى قسمين: يقوم الأولبإيجاد المسار المناسب ويضمن الثاني تتبع الروبوت لهذا المسار وصولاً لهدفه.
يعتمد هذا البحث على التقنيات المستخدمة في أحد أشهر خوارزميات تجنب العوائق (خوارزميات Bug) من أجل إيجاد مسار عام للروبوت. وتطبق تلك المسارات الناتجة على أرض الواقع باستخدام روبوت Boe-Bot تفاضلي القيادة.
Motion Planning is an important and potential issue in Robotics, because it gives the robot the ability to reach its target automatically with collision free, which increase the robot performance and reduce its operational cost. The robot motion planning is commonly divide into two approaches: finding the appropriate path and making the robot tracking this path until it reaches its goal.
This research depends on one of the most common obstacles avoidance path planningtechniques (Bug algorithms) to find global path of robot. And make the Boe-Bot robot (differential drive robot) tracking the paths generated by these algorithms in a certain environment.
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