2024

Arash Marashian; Abolhassan Razminia

One of the main issues in robotics systems is planning and tracking a safe path in diverse environments.<br/>This paper addresses an optimal methodology for generating the desired path and thereafter forces the<br/>mobile robot to follow the designed reference path. The proposed technique has the potential to tackle the<br/>inherent challenges and intricacies of the environment, enabling the robot to navigate both static and dynamic<br/>workspaces. Several simulations are exploited to verify the captured theoretical results. Three cases were<br/>examined in a static environment, achieving average performance metrics for reference signals in the X- and Y-directions, and heading tracking of 99.62%, 99.64%, and 95.08%, respectively. For the dynamic environment,<br/>two cases were studied, with average performance in following the Y-direction and heading angle recorded<br/>as 97.58% and 86.79%, respectively. Simulation results show that the controller calculated the optimal signal<br/>with an average computational time of 7 ms per iteration for static environments and 21.3 ms per iteration<br/>for dynamic environments.