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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Main Author:	Omar, Nurhanum
Format:	Thesis
Language:	English English English
Published:	2013
Subjects:	TJ Mechanical engineering and machinery
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
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id	my-uthm-ep.2051
record_format	uketd_dc
spelling	my-uthm-ep.20512021-10-31T01:32:20Z Path planning algorithm for a car-like robot based on cell decomposition method 2013-01 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 http://eprints.uthm.edu.my/2051/ http://eprints.uthm.edu.my/2051/1/24p%20NURHANUM%20OMAR.pdf text en public http://eprints.uthm.edu.my/2051/2/NURHANUM%20OMAR%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/2051/3/NURHANUM%20OMAR%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Onn Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery Omar, Nurhanum Path planning algorithm for a car-like robot based on cell decomposition method
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
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Omar, Nurhanum
author_facet	Omar, Nurhanum
author_sort	Omar, Nurhanum
title	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_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_sort	path planning algorithm for a car-like robot based on cell decomposition method
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2013
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
_version_	1747830905178685440

Path planning algorithm for a car-like robot based on cell decomposition method

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