RCD: Radial Cell Decomposition Algorithm for Mobile Robot Path Planning

Finding the optimum path for mobile robots is now an essential task as lots of autonomous mobile robots are widely used in factories, hospitals, farms, etc. Many path planning algorithms have been developed to finding the optimum path with the minimum processing time. The vertical cell decomposition...

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Autores principales:	Omnia A. A. Salama, Mohamed E. H. Eltaib, Hany Ahmed Mohamed, Omar Salah
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Path planning radial cell decomposition vertical cell decomposition Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/fa367dbb04694d1ab27d401e2654c37d
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spelling	oai:doaj.org-article:fa367dbb04694d1ab27d401e2654c37d2021-11-18T00:01:18ZRCD: Radial Cell Decomposition Algorithm for Mobile Robot Path Planning2169-353610.1109/ACCESS.2021.3125105https://doaj.org/article/fa367dbb04694d1ab27d401e2654c37d2021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9599699/https://doaj.org/toc/2169-3536Finding the optimum path for mobile robots is now an essential task as lots of autonomous mobile robots are widely used in factories, hospitals, farms, etc. Many path planning algorithms have been developed to finding the optimum path with the minimum processing time. The vertical cell decomposition algorithm (VCD) is one of the popular path planning algorithms. It is able to find a path in a very short time. In this paper, we present a new algorithm, called the Radial cell decomposition (RCD) algorithm, which can generate shorter paths and a slightly faster than VCD algorithm. Furthermore, the VCD algorithm cannot be applied directly to obstacles in special cases, like two vertices have the same x-coordinate; on the other hand, the RCD algorithm can be applied to these special cases directly. In addition to that, the RCD algorithm is very suitable for corridor environments, unlike the VCD algorithm. In this paper, the RCD algorithm is described and tested for both cluttered and corridor environments. Furthermore, Two different algorithms A*, and Vertical cell decomposition are compared to the RCD algorithm. Simulation results confirm the effectiveness of the RCD algorithm in terms of path length and processing time.Omnia A. A. SalamaMohamed E. H. EltaibHany Ahmed MohamedOmar SalahIEEEarticlePath planningradial cell decompositionvertical cell decompositionElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 149982-149992 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Path planning radial cell decomposition vertical cell decomposition Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Path planning radial cell decomposition vertical cell decomposition Electrical engineering. Electronics. Nuclear engineering TK1-9971 Omnia A. A. Salama Mohamed E. H. Eltaib Hany Ahmed Mohamed Omar Salah RCD: Radial Cell Decomposition Algorithm for Mobile Robot Path Planning
description	Finding the optimum path for mobile robots is now an essential task as lots of autonomous mobile robots are widely used in factories, hospitals, farms, etc. Many path planning algorithms have been developed to finding the optimum path with the minimum processing time. The vertical cell decomposition algorithm (VCD) is one of the popular path planning algorithms. It is able to find a path in a very short time. In this paper, we present a new algorithm, called the Radial cell decomposition (RCD) algorithm, which can generate shorter paths and a slightly faster than VCD algorithm. Furthermore, the VCD algorithm cannot be applied directly to obstacles in special cases, like two vertices have the same x-coordinate; on the other hand, the RCD algorithm can be applied to these special cases directly. In addition to that, the RCD algorithm is very suitable for corridor environments, unlike the VCD algorithm. In this paper, the RCD algorithm is described and tested for both cluttered and corridor environments. Furthermore, Two different algorithms A*, and Vertical cell decomposition are compared to the RCD algorithm. Simulation results confirm the effectiveness of the RCD algorithm in terms of path length and processing time.
format	article
author	Omnia A. A. Salama Mohamed E. H. Eltaib Hany Ahmed Mohamed Omar Salah
author_facet	Omnia A. A. Salama Mohamed E. H. Eltaib Hany Ahmed Mohamed Omar Salah
author_sort	Omnia A. A. Salama
title	RCD: Radial Cell Decomposition Algorithm for Mobile Robot Path Planning
title_short	RCD: Radial Cell Decomposition Algorithm for Mobile Robot Path Planning
title_full	RCD: Radial Cell Decomposition Algorithm for Mobile Robot Path Planning
title_fullStr	RCD: Radial Cell Decomposition Algorithm for Mobile Robot Path Planning
title_full_unstemmed	RCD: Radial Cell Decomposition Algorithm for Mobile Robot Path Planning
title_sort	rcd: radial cell decomposition algorithm for mobile robot path planning
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/fa367dbb04694d1ab27d401e2654c37d
work_keys_str_mv	AT omniaaasalama rcdradialcelldecompositionalgorithmformobilerobotpathplanning AT mohamedeheltaib rcdradialcelldecompositionalgorithmformobilerobotpathplanning AT hanyahmedmohamed rcdradialcelldecompositionalgorithmformobilerobotpathplanning AT omarsalah rcdradialcelldecompositionalgorithmformobilerobotpathplanning
_version_	1718425263242477568

RCD: Radial Cell Decomposition Algorithm for Mobile Robot Path Planning

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