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This article discusses route planning for a mobile robot in three-dimensional space using the Probabilistic Roadmap (PRM) algorithm. The mathematical apparatus of PRM allows you to build a state graph for the robot’s movement space, taking into account obstacles and environmental features. The developed Python program includes an implementation of the PRM algorithm to find the optimal path in 3D space. Experiments on route generation in various environments were conducted to demonstrate the effectiveness and accuracy of the proposed approach. The results obtained confirm the applicability of the PRM algorithm for route planning of mobile robots in complex 3D environments.

  • Количество прочтений 77
  • Дата публикации 01-04-2024
  • Язык статьиIngliz
  • Страницы12
English

This article discusses route planning for a mobile robot in three-dimensional space using the Probabilistic Roadmap (PRM) algorithm. The mathematical apparatus of PRM allows you to build a state graph for the robot’s movement space, taking into account obstacles and environmental features. The developed Python program includes an implementation of the PRM algorithm to find the optimal path in 3D space. Experiments on route generation in various environments were conducted to demonstrate the effectiveness and accuracy of the proposed approach. The results obtained confirm the applicability of the PRM algorithm for route planning of mobile robots in complex 3D environments.

№ Имя автора Должность Наименование организации
1 Vladyslav Y.. student Kharkiv National University of Radio Electronics
2 Svitlana M.. student Kharkiv National University of Radio Electronics
3 Amer A.. student Ajloun National University
№ Название ссылки
1 1. Shcherbyna, V., & et al. (2023). Mobile Robot for Fires Detection Development. Journal of Universal Science Research, 1(11), 17-27.
2 2. Nevliudov, I., & et al. (2023). Development of a Mobile Robot Prototype with an Interactive Control System. Системи управління, навігації та зв’язку. Збірник наукових праць, 3(73), 128-133.
3 3. Matarneh, R., & et al. (2018). Voice Control for Flexible Medicine Robot. International Journal of Computer Trends and Technology, 56(1), 1-5.
4 4. Al-Sharo Y., & et al. (2023). A Robo-hand prototype design gripping device within the framework of sustainable development. Indian Journal of Engineering, 2023, 20, e37ije1673.
5 5. Nevliudov, I., & et al. (2023). A Small-Sized Robot Prototype Development Using 3D Printing. In XXXI International Conference CAD In Machinery Design Implementation and Educational Issues,12.
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