Development of path planning based on lagrange polynomial method for dynamic obstacle avoidance of takeover and crossroad maneuver using kinect sensor of a mobile robot
There are two similar mobile robots has been developed. The last mobile robot development objective is to provide capabilities such as to avoid obstacle, to overtake, and to avoid collision in crossroad case. To perform these, a path planner based on Lagrange polynomial is developed. This work focusing on designing and developing the Planner module of Planning, Execution, and Monitoring (PEM) architecture for mobile robot. The input for the Planner is acquired from KinectTM sensor. When the minimum safety distance between two mobile robots is achieved, the path for mobile robot is generated using Lagrange polynomial module. The module results consist of straight movement, pivot left/right, and execution time. These results send to Executor module of the PEM.
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