Optimized and stable F2 -based motion planning approach for mobile robots
Abstract
Mobile robotics has contributed significantly to the intelligent development of human society, where motion planning is an essential requirement that refers to the ability of a mobile robot to automatically plan its motions.
OSF2 is a motion planning strategy based on the Dynamic Variable Speed Force Field method to control mobile robot movements. It ensures motion planning effectiveness against collision risks and instability mainly in dynamic environments. The flexibility of the mobile robot motion is provided due to the variation of angular and linear speeds, where its maximum angular speed is optimized in order to be adapted to environmental changes.
OSF2 allows the robot to react to obstacles that are in the coverage of its force field area and does not require visibility of the whole workspace.
Biography
Fatma Abdelhedi received the Electrical Engineering Diploma from the National Engineering School of Sfax, Tunisia in June 2011. She completed her doctoral studies at ENIS, to get a Master's degree in Automation and Industrial Computing in 2012, and a Ph.D. degree in the same field in April 2016. Since 2013, she had joined the Electrical Department at the High Institute of Industrial Management of Sfax. In April 2018, she started working on a socio-economic Post-doctoral project in the field of robotics. Since November 2018, she has joined the Faculty of Engineering at King Abdulaziz University, Jeddah. Her current research interests include nonlinear systems, automatic control, networked systems, and robotics. She is a scientific member in several international journals and conferences. She is the author and the co-author of more than 10 papers published in international journals and of more than 12 papers published in international conferences and books.