Muhammad Juhairi Aziz Safar
Thumbnail Image
Preferred name
Muhammad Juhairi Aziz Safar
Official Name
Muhammad Juhairi Aziz, Safar
Alternative Name
Safar, Muhammad Juhairi Aziz
Safar, M. Juhairi Aziz
Aziz Safar, M. J.
Juhairi Aziz Safar, Muhammad
Safar, Muhamad Juhairi Aziz
Safar, M. J.A.
Main Affiliation
Scopus Author ID
57212344599
Researcher ID
R-1349-2019

Research Output

Filters

1
1
1
Reset filters

Settings
Now showing 1 - 1 of 1
  • Publication
    Smooth and collision-free path planning for holonomic mobile robot based RRT-Connect
    (IOP Publishing, 2023)
    Yaaqob Saad Aljamali
    ;
    Muhammad Juhairi Aziz Safar
    Robot navigation is a crucial aspect of any mobile robot system. Many path planners generate a path that is zigzag in nature and contains many sharp or angular turns. Such courses are not adequate for a mobile robot to follow as it has to slow down and then speed up at these sharp turns. Thus, the integration of the smoothing function is a vital aspect to generate smooth and continuous paths. Moreover, a collision check after path smoothing needs to be accounted for a possible collision with obstacles surrounding. Herein, a path pruning algorithm is utilized to reduce the total path waypoints. Then a piecewise cubic B-spline smoothing function is applied to ensure the path is smooth and continuous. In addition, a post-smoothing collision checking and improvement algorithm based on mid-point insertion for the collide segments is proposed. Experiments and comparisons with the geometric RRT-Connect path planner have shown that the inclusion of a path pruning algorithm, smoothing function and post-smoothing collision check generates better results with reduced path length.