Path Planning For a Mobile Robot

Abstract

Path planning is the process of designing a specific path that a robot must follow in order to reach a special position or location. In this work the main program communicates with a simulator through a network socket. The simulator replicates the motion of the robot in a controlled environment. An intelligent search algorithm, handles the task of finding the best route that the robot must follow. The path generated by the intelligent algorithm is smoothed, this way the robot follows it in a more natural manner. The robot has four omnidirectional wheels which are controlled using error correction in order to provide the desired motion through the path. With the values obtained throughout this procedure, the velocities of the wheels are adjusted. The results obtained are acceptable; both, the avoidance of the obstacles established by the search algorithm used, and the fact that the robot does not go astray from the path