PATH PLANNING ALGORITHM FOR A CAR-LIKE ROBOT BASED ON CELL DECOMPOSITION METHOD NURHANUM BINTI OMAR A project report submitted in partial Fulfillment of the requirement for the award of the Degree of Master of Electrical Engineering
نویسنده
چکیده
This project proposes an obstacle avoiding path planning algorithm based on cell decomposition method for a car-like robot. Dijkstra’s algorithm is applied in order to find the shortest path. Using cell decomposition, the free space of the robot is exactly partitioned into cells. Then, the connectivity graph is created followed by calculating the shortest path by Dijkstra’s algorithm. This project also concerns the robot kinematic constraints such as minimum turning radius. Thus, kinematic modeling and Bezier curve have been used to obtain a feasible path. The algorithm is able to obtain a curvature bounded path with sub-optimal curve length while taking cell decomposition as reference skeleton. The C-space concept has been applied in this situation. The obstacles on the map are expanded according to the size of car-like robot, so that the robot could be treated as points on this map and the coordinates of the map is corresponding to these points. The simulation and experimental result shows the algorithm can obtain the collision free path which satisfies the curvature constraint and approaches the minimal curve length for a car-like robot.
منابع مشابه
Solving Path Following Problem for Car-Like Robot in the Presence of Sliding Effect via LMI Formulation
One of the main problems of car-like robot is robust path following in the presence of sliding effect. To tackle this problem, a robust mix H2/H∞ static state feedback control method is selected. This method is the well-known linear robust controller which is robust against external disturbance as well as model uncertainty. In this paper, the path following problem is formulated as linear matri...
متن کاملDesigning Path for Robot Arm Extensions Series with the Aim of Avoiding Obstruction with Recurring Neural Network
In this paper, recurrent neural network is used for path planning in the joint space of the robot with obstacle in the workspace of the robot. To design the neural network, first a performance index has been defined as sum of square of error tracking of final executor. Then, obstacle avoidance scheme is presented based on its space coordinate and its minimum distance between the obstacle and ea...
متن کاملDESIGN OF ZERO-CURRENT SWITCHING DC-DC BUCK CONVERTER NOR AZRINNA BINTI MUHAMAD A project report submitted in partial fulfilment of the requirement for the award of the Degree of Master of Electrical Engineering
متن کامل
مسیریابی حرکت روباتهای ماشینواره با روش پیشروی سریع
The Robot Motion Planning (RMP) problem deals with finding a collision-free start-to-goal path for a robot navigating among workspace obstacles. Such a problem is also encountered in path planning of intelligent vehicles and Automatic Guided Vehicles (AGVs). In terms of kinematic constraints, the RMP problem can be categorized into two groups of Holonomic and Nonholonomic problems. In the first...
متن کاملThesis Submitted in Partial Fulfillment of the requirement for the Degree of M.A/M. Sc In School consultant
Goal: The aim of this study is assess and compare emotional ability of deaf. Semi _ deaf and hearing students (14 _ 20) in Mashhad. Method: To do this experiment out of studies evidence generally 105 students selecting randomly. From each group, choose the number of normal boys and girls 35, deaf boys and girls and semi deaf boys and girls .this article is useful and explanatory .in this stud...
متن کامل