Path planning for constant speed robot

Path planning for constant speed robot

The purpose of this thesis is initially to present an implementation of a guidance algorithm based on the geometrical analysis for the adoption of path planning problem. A mobile robot (named toward its unique characteristic in this project as constant speed robot) moving at a constant speed and hav...

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Main Author: Abdullah @ Idris, Ahmad Takiyuddin
Format: Thesis
Language:English
Published: 2006
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://eprints.utm.my/id/eprint/250/1/AhmadTakiyuddinAbdullahMFKE2006.pdf
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spelling my-utm-ep.2502018-02-19T06:48:11Z Path planning for constant speed robot 2006-11 Abdullah @ Idris, Ahmad Takiyuddin TJ Mechanical engineering and machinery The purpose of this thesis is initially to present an implementation of a guidance algorithm based on the geometrical analysis for the adoption of path planning problem. A mobile robot (named toward its unique characteristic in this project as constant speed robot) moving at a constant speed and having a constant swerving ability is used in the analysis. The guidance algorithm is formed based on an initial direction and distance of the target location without considering the time taken by the robot to reach the desired destination. At the moment, the guidance algorithm managed to assist the robot to reach the desired destination, within a certain small error tolerance. The development of the path planning algorithm is initially presented by the geometrical analysis and it is then analyzed by simulation using Matlab. The simulation analysis is performed to prove the effectiveness and robustness of the guidance algorithm for the mobile robot. The performance of the guidance algorithm will be compared with an existing guidance algorithm based on kinematics geometry introduced by Lin [5] and with an alternative guidance strategy employing geometrical analysis and Matlab’s simulation 2006-11 Thesis http://eprints.utm.my/id/eprint/250/ http://eprints.utm.my/id/eprint/250/1/AhmadTakiyuddinAbdullahMFKE2006.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution Universiti Teknologi Malaysia
collection UTM Institutional Repository
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Abdullah @ Idris, Ahmad Takiyuddin
Path planning for constant speed robot
description The purpose of this thesis is initially to present an implementation of a guidance algorithm based on the geometrical analysis for the adoption of path planning problem. A mobile robot (named toward its unique characteristic in this project as constant speed robot) moving at a constant speed and having a constant swerving ability is used in the analysis. The guidance algorithm is formed based on an initial direction and distance of the target location without considering the time taken by the robot to reach the desired destination. At the moment, the guidance algorithm managed to assist the robot to reach the desired destination, within a certain small error tolerance. The development of the path planning algorithm is initially presented by the geometrical analysis and it is then analyzed by simulation using Matlab. The simulation analysis is performed to prove the effectiveness and robustness of the guidance algorithm for the mobile robot. The performance of the guidance algorithm will be compared with an existing guidance algorithm based on kinematics geometry introduced by Lin [5] and with an alternative guidance strategy employing geometrical analysis and Matlab’s simulation
format Thesis
qualification_level Master's degree
author Abdullah @ Idris, Ahmad Takiyuddin
author_facet Abdullah @ Idris, Ahmad Takiyuddin
author_sort Abdullah @ Idris, Ahmad Takiyuddin
title Path planning for constant speed robot
title_short Path planning for constant speed robot
title_full Path planning for constant speed robot
title_fullStr Path planning for constant speed robot
title_full_unstemmed Path planning for constant speed robot
title_sort path planning for constant speed robot
granting_institution Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department Faculty of Electrical Engineering
publishDate 2006
url http://eprints.utm.my/id/eprint/250/1/AhmadTakiyuddinAbdullahMFKE2006.pdf
_version_ 1747814350118191104

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