Document Details
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Document Type |
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Article In Journal |
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Document Title |
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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*)) |
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Subject |
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sensor path planning |
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Document Language |
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English |
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Abstract |
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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. |
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ISSN |
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2078-0257 |
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Journal Name |
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Journal of Mathematics and Technology |
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Volume |
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2 |
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Issue Number |
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4 |
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Publishing Year |
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1433 AH
2012 AD |
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Article Type |
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Article |
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Added Date |
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Saturday, June 23, 2012 |
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Researchers
| 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 |
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