| Author | Nguyen Truong Thanh |
| Call Number | AIT Thesis no.ISE-07-31 |
| Subject(s) | Mobile robots
|
| 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-07-31 |
| Abstract | The popularity of autonomous mobile robots has been rapidly increasing because of their new emerging application areas, from room cleaning, material transportation systems to space explorations. However, the development of a satisfactory path planning algorithm that will enable the mobile robots to navigate safely in dynamic environments is still an open research problem. The subject of this thesis is to develop a path planning algorithm for a mobile robot in a dynamic environment. The algorithm uses visibility graph method with A * search for global path planning. On the other hand, the algorithm uses a new potential field method with predictive collision ability for local path planning. It allows generating the shortest free-collision path for robot navigation in an environment containing both moving and static obstacles. The image processing algorithm is implemented to get the information of environment. The system is setup by using an overhead global camera to detect all of obstacle on the environment. The images are processed to calculate parameters of interest in real-world coordinate system. A user-friendly path planning software, which is called PMADE vI.O, is developed. PMADE v1.O is used for image processing of robot environment, path planning In a dynamic environment, simulation of robot navigation, and data export to real robot |
| Year | 2007 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-07-31 |
| 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) | Afzulpurkar, Nitin V.; |
| Examination Committee(s) | Manukid Parnichkun;Bohez, Erik L. J.; |
| Scholarship Donor(s) | MOET, Vietnam;Asian Institute of Technology Fellowship; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2007 |