Mobile robot's path-planning and path-tracking in static and dynamic environments: Dynamic programming approach.

One of the main issues in robotics systems is planning and tracking a safe path in diverse environments. This paper addresses an optimal methodology for generating the desired path and thereafter forces the mobile robot to follow the designed reference path. The proposed technique has the potential to tackle the inherent challenges and intricacies of the environment, enabling the robot to navigate both static and dynamic workspaces. Several simulations are exploited to verify the captured theoretical results. Three cases were 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, two cases were studied, with average performance in following the Y-direction and heading angle recorded as 97.58% and 86.79%, respectively. Simulation results show that the controller calculated the optimal signal with an average computational time of 7 ms per iteration for static environments and 21.3 ms per iteration for dynamic environments. • Low computational time : the computational time of path planner and path following is studied, and for the later, CasADi toolkit is used to minimize the computational time. • Path planner algorithm is complete : guarantees to find an existing path. • Systematic approach : the whole algorithm is explained in the paper facilitates further studies and enables a better understanding of the approach. • Applicable to a wide range of robot types : the proposed algorithm is suitable for any spatial search, and easily extentable to higher dimensions. [ABSTRACT FROM AUTHOR]