IMPACT OF DDA OPTIMIZATION ON MOBILE ROBOT PATH PLANNING FOR MIXED IMAGE IN IMAGE PROCESSING

Rama Kanta Choudhury, Chandra Kanta Samal

Abstract


Existing problem solving in the day to day environment requires computational intelligence. Path planning is one of the most important technologies in the navigation of the mobile robot, which should meet the optimization and real-time requests. The objective of the paper is to present a noble approach to find the efficient and effective path planning for mobile robot. Here first the image is located on the graph and then a quadtree is formed, according to the working space image with respect to the obstacle image. Then the NFT algorithm is used to obtain the shortest path from the start point to the goal point in the graph. Finally the DDA optimization algorithm is adopted to get the optimal path. Aiming at the shortcoming of the DDA algorithm which is easily plunging into the local minimum, DDA algorithm with NFT is put forward. The results of the simulation demonstrate the effectiveness of the proposed method, which can meet the real-time requests of the mobile robot's navigation. Here we have taken two different types of images, one square shape and other is mixed image of different shapes like triangle and circle. The working space is tested and result is verified using NFT Algorithm with DDA optimization.

Keywords


DDA, Grid search, Quadtreee, NFT (Neighbour finding technique)

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DOI: https://doi.org/10.26483/ijarcs.v8i8.4624

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