{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,17]],"date-time":"2026-02-17T12:10:38Z","timestamp":1771330238424,"version":"3.50.1"},"reference-count":65,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2022,10,25]],"date-time":"2022-10-25T00:00:00Z","timestamp":1666656000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Researchers Supporting Program","award":["TUMA-Project-2021-27"],"award-info":[{"award-number":["TUMA-Project-2021-27"]}]},{"name":"Researchers Supporting Program","award":["R-2022-318"],"award-info":[{"award-number":["R-2022-318"]}]},{"name":"Researchers Supporting Program","award":["PV045-2022"],"award-info":[{"award-number":["PV045-2022"]}]},{"name":"Deanship of Scientific Research at Majmaah University","award":["TUMA-Project-2021-27"],"award-info":[{"award-number":["TUMA-Project-2021-27"]}]},{"name":"Deanship of Scientific Research at Majmaah University","award":["R-2022-318"],"award-info":[{"award-number":["R-2022-318"]}]},{"name":"Deanship of Scientific Research at Majmaah University","award":["PV045-2022"],"award-info":[{"award-number":["PV045-2022"]}]},{"name":"University Malaya","award":["TUMA-Project-2021-27"],"award-info":[{"award-number":["TUMA-Project-2021-27"]}]},{"name":"University Malaya","award":["R-2022-318"],"award-info":[{"award-number":["R-2022-318"]}]},{"name":"University Malaya","award":["PV045-2022"],"award-info":[{"award-number":["PV045-2022"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper aims to develop a new mobile robot path planning algorithm, called generalized laser simulator (GLS), for navigating autonomously mobile robots in the presence of static and dynamic obstacles. This algorithm enables a mobile robot to identify a feasible path while finding the target and avoiding obstacles while moving in complex regions. An optimal path between the start and target point is found by forming a wave of points in all directions towards the target position considering target minimum and border maximum distance principles. The algorithm will select the minimum path from the candidate points to target while avoiding obstacles. The obstacle borders are regarded as the environment\u2019s borders for static obstacle avoidance. However, once dynamic obstacles appear in front of the GLS waves, the system detects them as new dynamic obstacle borders. Several experiments were carried out to validate the effectiveness and practicality of the GLS algorithm, including path-planning experiments in the presence of obstacles in a complex dynamic environment. The findings indicate that the robot could successfully find the correct path while avoiding obstacles. The proposed method is compared to other popular methods in terms of speed and path length in both real and simulated environments. According to the results, the GLS algorithm outperformed the original laser simulator (LS) method in path and success rate. With application of the all-direction border scan, it outperforms the A-star (A*) and PRM algorithms and provides safer and shorter paths. Furthermore, the path planning approach was validated for local planning in simulation and real-world tests, in which the proposed method produced the best path compared to the original LS algorithm.<\/jats:p>","DOI":"10.3390\/s22218177","type":"journal-article","created":{"date-parts":[[2022,10,26]],"date-time":"2022-10-26T07:17:48Z","timestamp":1666768668000},"page":"8177","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["A Generalized Laser Simulator Algorithm for Mobile Robot Path Planning with Obstacle Avoidance"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2854-095X","authenticated-orcid":false,"given":"Aisha","family":"Muhammad","sequence":"first","affiliation":[{"name":"Department of Mechatronics Engineering, Faculty of Technology, Bayero University, Kano 700241, Nigeria"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5179-7027","authenticated-orcid":false,"given":"Mohammed A. H.","family":"Ali","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, Malaysia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6661-8469","authenticated-orcid":false,"given":"Sherzod","family":"Turaev","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Software Engineering, College of Information Technology, United Arab Emirates University, Al-Ain P.O. Box 15556, United Arab Emirates"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0266-1027","authenticated-orcid":false,"given":"Rawad","family":"Abdulghafor","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Faculty of Information and Communication Technology, International Islamic University Malaysia, Kuala Lumpur 53100, Malaysia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6553-3153","authenticated-orcid":false,"given":"Ibrahim Haruna","family":"Shanono","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Faculty of Technology, Bayero University, Kano 700241, Nigeria"}]},{"given":"Zaid","family":"Alzaid","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Faculty of Computer and Information Systems, Islamic University of Medinah, Medinah 42351, Saudi Arabia"}]},{"given":"Abdulrahman","family":"Alruban","sequence":"additional","affiliation":[{"name":"Department of Information Technology, College of Computer and Information Sciences, Majmaah University, Al Majmaah 11952, Saudi Arabia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2410-486X","authenticated-orcid":false,"given":"Rana","family":"Alabdan","sequence":"additional","affiliation":[{"name":"Department of Information Systems, Faculty of Computer and Information Sciences College, Majmaah University, Al Majmaah 11952, Saudi Arabia"}]},{"given":"Ashit Kumar","family":"Dutta","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Information Systems, College of Applied Sciences Al Maarefa University, Riyadh 13713, Saudi Arabia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2050-5236","authenticated-orcid":false,"given":"Sultan","family":"Almotairi","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Faculty of Computer and Information Systems, Islamic University of Medinah, Medinah 42351, Saudi Arabia"},{"name":"Department of Natural and Applied Sciences, Faculty of Community College, Majmaah University, Majmaah 11952, Saudi Arabia"}]}],"member":"1968","published-online":{"date-parts":[[2022,10,25]]},"reference":[{"key":"ref_1","first-page":"2697","article-title":"Novel Algorithm for Mobile Robot Path Planning in Constrained Environment","volume":"71","author":"Muhammad","year":"2021","journal-title":"Comput. 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