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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| 主要作者: | |
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| 格式: | Thesis |
| 語言: | English English English |
| 出版: |
2013
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| 主題: | |
| 在線閱讀: | 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 |
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| 總結: | 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. |
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