Range sensor based local path planning algorithm for mobile robot in unknown static environment with beacon / Wan Ahmad Jailani Wan Ngah

The Bug algorithm is a local path planning methodology for mobile robot which detects the nearest obstacle as the robot moves towards a target with no or very limited information about the environment. It uses obstacle border as guidance toward the target and at the same time uses sensors to impleme...

Full description

Saved in:

Bibliographic Details
Main Author:	Wan Ngah, Wan Ahmad Jailani
Format:	Thesis
Language:	English
Published:	2013
Subjects:	Mechanical devices and figures Automata Ingenious mechanisms.Robots (General)
Online Access:	https://ir.uitm.edu.my/id/eprint/20371/1/20371.PDF
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my-uitm-ir.20371
record_format	uketd_dc
spelling	my-uitm-ir.203712022-12-18T02:42:59Z Range sensor based local path planning algorithm for mobile robot in unknown static environment with beacon / Wan Ahmad Jailani Wan Ngah 2013 Wan Ngah, Wan Ahmad Jailani Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General) Detectors. Sensors. Sensor networks The Bug algorithm is a local path planning methodology for mobile robot which detects the nearest obstacle as the robot moves towards a target with no or very limited information about the environment. It uses obstacle border as guidance toward the target and at the same time uses sensors to implement obstacle avoidance. During circumnavigating an obstacle, Bug algorithm needs to detect a situation that triggers to leave the current circumnavigating obstacle toward target point. Implementation of Bug algorithm also requires assumption that the localisation for mobile robot is ideal causes the need for ideal sensor and unrealistic for real mobile robots to be implemented in real world. The new approach called PointsBug was developed to avoid the requirement of ideal localisation and try to minimize the use of outer perimeter of obstacle (obstacle border) by looking for a few points on the outer perimeter of an obstacle area as turning point toward target point and as a result reducing duration and distance of mobile robot navigation. PointsBug also avoids the necessity to store any information about previous positions of navigation such as hit point, leaving point and previous position in Bug algorithms family developed by past researches. This causes accuracy in mobile robot localisation is not an important factor for a successful navigation. PointsBug is then compared with TangentBug because it is the best among The Bug Algorithm family using the range sensor for distance, duration, speed and reachability. 2013 Thesis https://ir.uitm.edu.my/id/eprint/20371/ https://ir.uitm.edu.my/id/eprint/20371/1/20371.PDF text en public mphil masters Universiti Teknologi MARA (UiTM) Faculty of Electrical Engineering Buniyamin, Norlida
institution	Universiti Teknologi MARA
collection	UiTM Institutional Repository
language	English
advisor	Buniyamin, Norlida
topic	Mechanical devices and figures Automata Ingenious mechanisms.Robots (General) Mechanical devices and figures Automata Ingenious mechanisms.Robots (General)
spellingShingle	Mechanical devices and figures Automata Ingenious mechanisms.Robots (General) Mechanical devices and figures Automata Ingenious mechanisms.Robots (General) Wan Ngah, Wan Ahmad Jailani Range sensor based local path planning algorithm for mobile robot in unknown static environment with beacon / Wan Ahmad Jailani Wan Ngah
description	The Bug algorithm is a local path planning methodology for mobile robot which detects the nearest obstacle as the robot moves towards a target with no or very limited information about the environment. It uses obstacle border as guidance toward the target and at the same time uses sensors to implement obstacle avoidance. During circumnavigating an obstacle, Bug algorithm needs to detect a situation that triggers to leave the current circumnavigating obstacle toward target point. Implementation of Bug algorithm also requires assumption that the localisation for mobile robot is ideal causes the need for ideal sensor and unrealistic for real mobile robots to be implemented in real world. The new approach called PointsBug was developed to avoid the requirement of ideal localisation and try to minimize the use of outer perimeter of obstacle (obstacle border) by looking for a few points on the outer perimeter of an obstacle area as turning point toward target point and as a result reducing duration and distance of mobile robot navigation. PointsBug also avoids the necessity to store any information about previous positions of navigation such as hit point, leaving point and previous position in Bug algorithms family developed by past researches. This causes accuracy in mobile robot localisation is not an important factor for a successful navigation. PointsBug is then compared with TangentBug because it is the best among The Bug Algorithm family using the range sensor for distance, duration, speed and reachability.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Wan Ngah, Wan Ahmad Jailani
author_facet	Wan Ngah, Wan Ahmad Jailani
author_sort	Wan Ngah, Wan Ahmad Jailani
title	Range sensor based local path planning algorithm for mobile robot in unknown static environment with beacon / Wan Ahmad Jailani Wan Ngah
title_short	Range sensor based local path planning algorithm for mobile robot in unknown static environment with beacon / Wan Ahmad Jailani Wan Ngah
title_full	Range sensor based local path planning algorithm for mobile robot in unknown static environment with beacon / Wan Ahmad Jailani Wan Ngah
title_fullStr	Range sensor based local path planning algorithm for mobile robot in unknown static environment with beacon / Wan Ahmad Jailani Wan Ngah
title_full_unstemmed	Range sensor based local path planning algorithm for mobile robot in unknown static environment with beacon / Wan Ahmad Jailani Wan Ngah
title_sort	range sensor based local path planning algorithm for mobile robot in unknown static environment with beacon / wan ahmad jailani wan ngah
granting_institution	Universiti Teknologi MARA (UiTM)
granting_department	Faculty of Electrical Engineering
publishDate	2013
url	https://ir.uitm.edu.my/id/eprint/20371/1/20371.PDF
_version_	1783733727322439680

Range sensor based local path planning algorithm for mobile robot in unknown static environment with beacon / Wan Ahmad Jailani Wan Ngah

Similar Items