Path Planning Of Mobile Robot In Rough Terrain

This thesis presents a study of autonomous mobile robot path planning for (?)ougn (?).(?)ocuses on (?) inodering and deveiopinent of (?) for determining optimal path for a robot to navigate through rough terrain. A good path plan provides the robot with the shortest, safest, and minimum cost path, in terms of energy and time, to reach desired goal from its present position.A Delaunay triangulation method was used for modeling the terrain in three dimensions. In addition, a smoothing process developed by the method of triangular B-splines to the real terrain model was applied. Dijkstra's algorithm was selected for the problem of path finding in 3-D terrain under conditions of static navigation. The cost function developed consists of three main parameters that affect the calculation; and it was treated as multivariable. The magnitude of each variable differs from one to another. We proposed a method for selecting weighting factors bound parameters.A simulation of the path developed demonstrate the optimality in selection of the algorithm, weighting factors, optimality in path developed, big capacity in obstacles avoiding and minimum time and energy consumption.