Development of a path-planning algorithm using TSP approach for the navigation of an autonomous mobile robot | |
| Author | Bhagwanrao, Dange Mukund |
| Call Number | AIT Thesis no.ISE-03-05 |
| Subject(s) | Mobile robots Wireless communication systems Algorithms Autonomous robots |
| Note | A thesis submitted in partial fulfilment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-03-05 |
| Abstract | The aim of the this thesis is to present a navigational technique for a sonar equipped mobile robot with real time local map building in an unknown environments. A navigational algorithm is constructed with the local map building and obstacle avoidance behaviors. In these navigational experiments, a commercial mobile robot Pioneer 2DX is used. This algorithm is proving to be successful for the navigation of the mobile robot in several environment compared to the navigational technique without map building, especially in a complicated environment. Navigational techniques can be generally classified as reactive and deliberative techniques. In the former mobile robot is navigated from sta1i to goal and avoids obstacle by directly referring to sensory information. The reactive techniques are easily implemented in Mobile robots but sometimes robot finds itself in deadlock situation in a complicated environments. On the other hand, the later, models such as environmental maps are used for navigation. The more the accurate the map is, the larger the amount of computation required. This technique seems to be too expensive for the navigation. This thesis is presented in an attempt to solve this problem with certain new idea. Precomputation of the path is done in advance for the robot. The goal coordinates of the paths in certain data format are provided to the robot. Optimal path to navigate through these goals are calculated based on TSP approach using Branch and Bound algorithm. Robot starts its navigation based on this data. Environmental Map is also given to the robot. Robot based on these information starts navigating to the goals. Using its Sonar Sensors, localization module and dynamic obstacle avoidance capability developed by previous researchers, it moves to the goal in a optimal and desirable way with minimum deviation from the goals caused due to mechanical and slippage errors of the mobile robot. |
| Year | 2003 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-03-05 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Afzulpurkar, Nitin V.; |
| Examination Committee(s) | Bohez, Erik L J;Phan Minh Dung; |
| Scholarship Donor(s) | Asian Institute of Technology Partial Fellowship; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2003 |