A path planning algorithm for an autonomous mobile robot in a dynamic environment | |
| Author | May Zar Lin |
| Call Number | AIT Thesis no.ISE-13-47 |
| Subject(s) | Path--Planning Mobile robots--Automatic control |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-13-47 |
| Abstract | In mobile robot development, the autonomous mobile robot with the artificial intelligent becomes one of interesting research area. Instead of using remote control or manual control, nowadays, the mobile robot are given the ability to make their own decision in their workspace. Especially in the mobile robot, while moving the robot has the ability to plan for the target without any collision to the obstacles. Planning for the path to the target, the safety of the robot is the fundamental important in mobile robot. However, if the robot has enough information about its environment and no unexpected obstacle movement, then the planning can focus to the optimal path rather than collision free path only. If any unexpected movement or new dynamics obstacles is found in its way, the robot has difficult to handle newly information and collision avoidance. In this thesis, the path planning algorithm for an autonomous mobile robot in a dynamic environment is developed. First, the robot has given the information about its environment and it plans the offline path to the goal. While moving to the goal, the robot scans its surrounding by webcam and identifies any object movement. If the robot finds any newly moving objects, the robot stops and waits till its path is clear. |
| Year | 2013 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-13-47 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Bohez, Erik L. J.;Mongkol Ekpanyapong; |
| Scholarship Donor(s) | Asian Institute of Technology Fellowship; |
| Degree | Thesis (M.Eng.) -- Asian Institute of Technology, 2013 |