Obstacle avoidance capability for multi-target path planning in different styles of search

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dc.contributor.authorAlhassow, Mustafa Mohammed
dc.contributor.authorAta, Oğuz
dc.contributor.authorAtilla, Doğu Çağdaş
dc.date.accessioned2024-11-01T11:18:43Z
dc.date.available2024-11-01T11:18:43Z
dc.date.issued2024en_US
dc.departmentEnstitüler, Lisansüstü Eğitim Enstitüsü, Elektrik ve Bilgisayar Mühendisliği Ana Bilim Dalıen_US
dc.description.abstractThis study investigates robot path planning for multiple agents, focusing on the critical requirement that agents can pursue concurrent pathways without collisions. Each agent is assigned a task within the environment to reach a designated destination. When the map or goal changes unexpectedly, particularly in dynamic and unknown environments, it can lead to potential failures or performance degradation in various ways. Additionally, priority inheritance plays a significant role in path planning and can impact performance. This study proposes a Conflict- Based Search (CBS) approach, introducing a unique hierarchical searchmechanism for planning paths formultiple robots. The study aims to enhance flexibility in adapting to different environments. Three scenarioswere tested, and the accuracy of the proposed algorithm was validated. In the first scenario, path planning was applied in unknown environments, both stationary and mobile, yielding excellent results in terms of time to arrival and path length,with a time of 2.3 s. In the second scenario, the algorithmwas applied to complex environments containing sharp corners and unknown obstacles, resulting in a time of 2.6 s, with the algorithm also performing well in terms of path length. In the final scenario, themulti-objective algorithmwas tested in awarehouse environment containing fixed,mobile, andmulti-targeted obstacles, achieving a result of up to 100.4 s. Based on the results and comparisons with previous work, the proposed method was found to be highly effective, efficient, and suitable for various environments.en_US
dc.identifier.citationAlhassow, M. M., Ata, O., Atilla, D. Ç. (2024). Obstacle avoidance capability for multi-target path planning in different styles of search. Computers, Materials and Continua, 81(1), 749-771. 10.32604/cmc.2024.055592en_US
dc.identifier.endpage771en_US
dc.identifier.issn1546-2218
dc.identifier.issue1en_US
dc.identifier.scopus2-s2.0-85206834921
dc.identifier.scopusqualityQ1
dc.identifier.startpage749en_US
dc.identifier.urihttps://hdl.handle.net/20.500.12939/4956
dc.identifier.volume81en_US
dc.identifier.wosWOS:001350270600016
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorAlhassow, Mustafa Mohammed
dc.institutionauthorAta, Oğuz
dc.institutionauthorAtilla, Doğu Çağdaş
dc.language.isoen
dc.publisherTech Science Pressen_US
dc.relation.ispartofComputers, Materials and Continua
dc.relation.isversionof10.32604/cmc.2024.055592en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - İdari Personel ve Öğrencien_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectConflict algorithmen_US
dc.subjectDynamic environmenten_US
dc.subjectMobile roboten_US
dc.subjectOmnidirectional mobile roboten_US
dc.subjectUnknown environmenten_US
dc.subjectWarehouseen_US
dc.titleObstacle avoidance capability for multi-target path planning in different styles of search
dc.typeArticle

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