Master's thesis at the University of Basrah discussing (multi-dimensional path planning while avoiding obstacles using the binary vision tree algorithm)
A master’s thesis in the College of Engineering at the University of Basrah discussing (multidimensional path planning with obstacle avoidance using the binary tree of vision algorithm). The thesis presented by the student Doaa Ahmed Ramadan dealt with the first algorithm, which is a two-dimensional path planning algorithm for path planning and obstacle avoidance in a static environment.
The second algorithm used in this thesis for path planning and obstacle avoidance in a dynamic environment is the manufactured shape tangent algorithm. The algorithm method depends on estimating the steps of the robot’s path from the source to the destination point to estimate the crossing point with the line moving from the source to the target points
The aim of the thesis is to introduce methods for guiding mobile robots in a polygonal environment
The thesis concluded when comparing the first algorithm with the shadow algorithm for virtual circuits in terms of access time and path length, the proposed algorithm outperforms the previous algorithms in performance, which leads to the fastest access time and the shortest possible path without collision.
The collision problem was also solved by delaying the movement of the robot by one step and repeating the first position of the robot in the group of steps of the robot's path.