Path planning algorithm for a car like robot based on Coronoi Diagram Method
The purpose of this study is to develop an efficient offline path planning algorithm that is capable of finding optimal collision-free paths from a starting point to a goal point. The algorithm is based on Voronoi diagram method for the environment representation combined with Dijkstra’s algor...
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| Format: | Thesis |
| Language: | en en en |
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2013
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| Online Access: | http://eprints.uthm.edu.my/1907/1/24p%20HAIDIE%20INUN.pdf http://eprints.uthm.edu.my/1907/2/HAIDIE%20INUN%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/1907/3/HAIDIE%20INUN%20WATERMARK.pdf http://eprints.uthm.edu.my/1907/ |
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| _version_ | 1833416924792356864 |
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| author | Inun, Haidie |
| author_facet | Inun, Haidie |
| author_sort | Inun, Haidie |
| building | UTHM Library |
| collection | Institutional Repository |
| content_provider | Universiti Tun Hussein Onn Malaysia |
| content_source | UTHM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | The purpose of this study is to develop an efficient offline path planning algorithm
that is capable of finding optimal collision-free paths from a starting point to a goal
point. The algorithm is based on Voronoi diagram method for the environment
representation combined with Dijkstra’s algorithm to find the shortest path. Since
Voronoi diagram path exhibits sharp corners and redundant turns, path tracking was
applied considering the robot’s kinematic constraints. The results has shown that the
Voronoi diagram path planning method recorded fast computational time as it
provides simpler, faster and efficient path finding. The final path, after considering
robot’s kinematic constraints, provides shorter path length and smoother compared to
the original one. The final path can be tuned to the desired path by tuning the
parameter setting; velocity, v and minimum turning radius, Rmin. In comparison with
the Cell Decomposition method, it shows that Voronoi diagram has a faster
computation time. This leads to the reduced cost in terms of time. The findings of
this research have shown that Voronoi Diagram and Dijkstra’s Algorithm are a good
combination in the path planning problem in terms of finding a safe and shortest
path. |
| format | Thesis |
| id | my.uthm.eprints-1907 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | en en en |
| publishDate | 2013 |
| record_format | eprints |
| spelling | my.uthm.eprints-19072021-10-12T04:33:53Z http://eprints.uthm.edu.my/1907/ Path planning algorithm for a car like robot based on Coronoi Diagram Method Inun, Haidie TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) The purpose of this study is to develop an efficient offline path planning algorithm that is capable of finding optimal collision-free paths from a starting point to a goal point. The algorithm is based on Voronoi diagram method for the environment representation combined with Dijkstra’s algorithm to find the shortest path. Since Voronoi diagram path exhibits sharp corners and redundant turns, path tracking was applied considering the robot’s kinematic constraints. The results has shown that the Voronoi diagram path planning method recorded fast computational time as it provides simpler, faster and efficient path finding. The final path, after considering robot’s kinematic constraints, provides shorter path length and smoother compared to the original one. The final path can be tuned to the desired path by tuning the parameter setting; velocity, v and minimum turning radius, Rmin. In comparison with the Cell Decomposition method, it shows that Voronoi diagram has a faster computation time. This leads to the reduced cost in terms of time. The findings of this research have shown that Voronoi Diagram and Dijkstra’s Algorithm are a good combination in the path planning problem in terms of finding a safe and shortest path. 2013-01 Thesis NonPeerReviewed text en http://eprints.uthm.edu.my/1907/1/24p%20HAIDIE%20INUN.pdf text en http://eprints.uthm.edu.my/1907/2/HAIDIE%20INUN%20COPYRIGHT%20DECLARATION.pdf text en http://eprints.uthm.edu.my/1907/3/HAIDIE%20INUN%20WATERMARK.pdf Inun, Haidie (2013) Path planning algorithm for a car like robot based on Coronoi Diagram Method. Masters thesis, Universiti Tun Hussein Onn Malaysia. |
| spellingShingle | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Inun, Haidie Path planning algorithm for a car like robot based on Coronoi Diagram Method |
| title | Path planning algorithm for a car like robot based on Coronoi Diagram Method |
| title_full | Path planning algorithm for a car like robot based on Coronoi Diagram Method |
| title_fullStr | Path planning algorithm for a car like robot based on Coronoi Diagram Method |
| title_full_unstemmed | Path planning algorithm for a car like robot based on Coronoi Diagram Method |
| title_short | Path planning algorithm for a car like robot based on Coronoi Diagram Method |
| title_sort | path planning algorithm for a car like robot based on coronoi diagram method |
| topic | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) |
| url | http://eprints.uthm.edu.my/1907/1/24p%20HAIDIE%20INUN.pdf http://eprints.uthm.edu.my/1907/2/HAIDIE%20INUN%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/1907/3/HAIDIE%20INUN%20WATERMARK.pdf http://eprints.uthm.edu.my/1907/ |
| url_provider | http://eprints.uthm.edu.my/ |