Article Per Year (5 Year)
p-Index From 2020 - 2025
0
P-Index
This Author published in this journals
All Journal Proceeding of the Electrical Engineering Computer Science and Informatics
Mohammed Mestari
Unknown Affiliation
Computer Science & IT Electrical & Electronics Engineering

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search

 1 
A Reactive Path Planning Approach for a Four-wheel Robot by the Decomposition Coordination Method Hala El Ouarrak; Mostafa Rachik; Ibrahim Sanou; Fatiha Akef; Mohammed Mestari
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 4: EECSI 2017
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (520.858 KB) | DOI: 10.11591/eecsi.v4.1111

Abstract

In this paper, we discuss the problem of safe navi- gation by solving a non-linear model for a four-wheel robot while avoiding the upcoming obstacles that may cross its path using the Decomposition Coordination Method (DC). The method consists of first, choosing a non-linear system with the associated objective functions to optimize. Then we carry on the resolution of the model using the Decomposition Coordination Method,  which allows the non-linearity of the model to be handled locally and ensures coordination through the use of the Lagrange multipliers. An obstacle-avoidance algorithm is presented thus offering a collision-free solution. A numerical application is given to concert the efficiency of the method employed herein along with the simulation results.
Co-Authors Fatiha Akef Hala El Ouarrak Ibrahim Sanou Mostafa Rachik