Mobile robot LIDAR based path planning and tracking

Abstract

This project deals with mobile robot path planning and tracking. The mobile robot is equipped with a Lidar sensor which scans the environment and returns cloud points constituting the obstacles coordinates. First, our work consists in building the robot environment using binary occupancy grid strategy. Then, an algorithm which allows the robot to reach its target starting from any initial coordinate is created (RAY based planner ). Second a graph based strategy is used to extract the free optimal path, then the obtained path is smoothed using Cubic splines. Last, pure pursuit controller is implemented to allow the robot to track the reference optimal path and find a new path in case the robot encounters a sudden static obstacle that was not present before in the ma . The work is validated by simulation results using MATLAB and Simulink. Moreover, the obtained results are compared with previous work in the literature (PRM and RRT-star) to prove their efficiency, and the obtained results are discussed.