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Motion Planning Method Using Approximate Cell decomposition with Petri Nets for Single Mobile Robot | ||
| Journal of University of Babylon | ||
| Article 1, Volume 14, Issue 3, 2007, Pages 6-11 | ||
| Authors | ||
| Alia K. Hassan; Mizhur S. Alani; Moaid S. Murad | ||
| Abstract | ||
| Abstract The paper presents a method for single mobile robot motion planning. This method based on approximate cell decomposition motion planning approach for single mobile robot motion planning which require simple computation and it will find path from any start point to any goal position in the workspace if one exist. As in approximate cell decomposition we will divide the 2D configuration space into a set of reshaped cells of free space by using Petri net in which a marking of free position places is the result of the decomposition of the free space. An initial marking of free position places determine robot current position and goal marking determine the robot desired position finally Petri net reachability graph find a path from start position to the goal position. reachability graph is slightly different from connectivity graph. | ||
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