Path planning for an autonomous mobile robot with randomly moving obstacles and goal |
Posted on:2012-08-26 | Degree:M.S | Type:Thesis |
University:Northern Illinois University | Candidate:Aenugu, Vanitha | Full Text:PDF |
GTID:2458390008998158 | Subject:Engineering |
Abstract/Summary: | |
This thesis presents dynamic path planning of a mobile robot with a randomly moving goal and five randomly moving obstacles. The main advantage of this method is the trajectories of both obstacles and the goal are not known a priori to the robot. A new mathematical algorithm is introduced to generate the path. The new mathematical algorithm is based on the concept of three-dimensional geometry. The robot calculates the path quickly to avoid moving obstacles and moves toward a randomly moving goal. This approach involves faster decision-making and can be essentially implemented in real life where everything is moving. Simulations are presented in 3-D using MATLAB to demonstrate collision avoidance and path planning. |
Keywords/Search Tags: | Path planning, Moving, Mobile robot, New mathematical algorithm |
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