Path planning algorithm for a car-like robot based on cell decomposition method
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 con...
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| Format: | Thesis |
| Language: | en en en |
| Published: |
2013
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/2051/1/24p%20NURHANUM%20OMAR.pdf http://eprints.uthm.edu.my/2051/2/NURHANUM%20OMAR%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/2051/3/NURHANUM%20OMAR%20WATERMARK.pdf http://eprints.uthm.edu.my/2051/ |
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| _version_ | 1833416961665531904 |
|---|---|
| author | Omar, Nurhanum |
| author_facet | Omar, Nurhanum |
| author_sort | Omar, Nurhanum |
| building | UTHM Library |
| collection | Institutional Repository |
| content_provider | Universiti Tun Hussein Onn Malaysia |
| content_source | UTHM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | 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. |
| format | Thesis |
| id | my.uthm.eprints-2051 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | en en en |
| publishDate | 2013 |
| record_format | eprints |
| spelling | my.uthm.eprints-20512021-10-31T01:32:20Z http://eprints.uthm.edu.my/2051/ Path planning algorithm for a car-like robot based on cell decomposition method Omar, Nurhanum TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) 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. 2013-01 Thesis NonPeerReviewed text en http://eprints.uthm.edu.my/2051/1/24p%20NURHANUM%20OMAR.pdf text en http://eprints.uthm.edu.my/2051/2/NURHANUM%20OMAR%20COPYRIGHT%20DECLARATION.pdf text en http://eprints.uthm.edu.my/2051/3/NURHANUM%20OMAR%20WATERMARK.pdf Omar, Nurhanum (2013) Path planning algorithm for a car-like robot based on cell decomposition method. Masters thesis, Universiti Tun Hussein Onn Malaysia. |
| spellingShingle | TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Omar, Nurhanum Path planning algorithm for a car-like robot based on cell decomposition method |
| title | Path planning algorithm for a car-like robot based on cell decomposition method |
| title_full | Path planning algorithm for a car-like robot based on cell decomposition method |
| title_fullStr | Path planning algorithm for a car-like robot based on cell decomposition method |
| title_full_unstemmed | Path planning algorithm for a car-like robot based on cell decomposition method |
| title_short | Path planning algorithm for a car-like robot based on cell decomposition method |
| title_sort | path planning algorithm for a car-like robot based on cell decomposition method |
| topic | TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) |
| url | http://eprints.uthm.edu.my/2051/1/24p%20NURHANUM%20OMAR.pdf http://eprints.uthm.edu.my/2051/2/NURHANUM%20OMAR%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/2051/3/NURHANUM%20OMAR%20WATERMARK.pdf http://eprints.uthm.edu.my/2051/ |
| url_provider | http://eprints.uthm.edu.my/ |