Selecting Dynamic Path Planning Algorithm Based-Upon Ranking Approach for Omni-Wheeled Mobile Robot

Authors

  • Mostafa Mohammed Massoud Hamd Mechanical Engineering Department, College of Engineering and Technology, Arab Academy for Science, Technology and Maritime Transport (AASTMT), B 2401 Smart Village, Giza 12577, Egypt
  • Ahmed Abdellatif Hamed Ibrahim Mechanical Engineering Department, Arab Academy for Science and Technology and Maritime Transport, Sheraton Branch, Cairo 11757, Egypt
  • Mostafa Rostom Ahmed Atia Mechanical Engineering Department, Arab Academy for Science and Technology and Maritime Transport, Sheraton Branch, Cairo 11757, Egypt

DOI:

https://doi.org/10.37934/araset.41.2.125138

Keywords:

4OWMR, Hybrid A*, RRT, RRT*, PRM, WSM, Dynamic path planning

Abstract

Four Omni Wheels Mobile Robot (4OWMR) are widely utilized for indoor navigation applications such as autonomous transportation, surveillance, rescue, and search. This paper proposes a ranking approach to select the dynamic path planning algorithm. The selection process involves implementing the four path planning techniques (PRM, RRT, RRT*, Hybrid A*) on three different maps. The Weighted Sum Model (WSM) is then applied to each map to rank these algorithms based on several factors. Finally, the points of each algorithm in the three maps are added up, and the algorithm with the highest score is selected as the dynamic path planning algorithm. The results indicate that the Hybrid A* algorithm surpasses the others, scoring 46 points, which represents a 21.7% increase compared to PRM and RRT, and a 30.4% increase compared to RRT* when using the weighted sum ranking technique. Therefore, it can be selected as the dynamic path planning algorithm.

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Author Biographies

Mostafa Mohammed Massoud Hamd, Mechanical Engineering Department, College of Engineering and Technology, Arab Academy for Science, Technology and Maritime Transport (AASTMT), B 2401 Smart Village, Giza 12577, Egypt

mostafa_massoud@aast.edu

Ahmed Abdellatif Hamed Ibrahim, Mechanical Engineering Department, Arab Academy for Science and Technology and Maritime Transport, Sheraton Branch, Cairo 11757, Egypt

a_abdellatif@aast.edu

Mostafa Rostom Ahmed Atia, Mechanical Engineering Department, Arab Academy for Science and Technology and Maritime Transport, Sheraton Branch, Cairo 11757, Egypt

mrostom1@aast.edu

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Published

2024-03-20

Issue

Vol. 41 No. 2: November (2024)

Section

Articles
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