| Author | Charoen Rompet |
| Call Number | AIT Thesis no.ISE-99-07 |
| Subject(s) | Mobile robots
|
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Science, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Abstract | Navigation-is-the sGience ~er art }efdirecting-the Geurse ef a mebile rebet- as-it-traverse I the environment (land,sea ,or air). Inherent in any navigation scheme is the desire to reach a destinafam without getting-lest Gi:-crashing into-anything. Na:vigatioo-involve&-thrne- ~sks: Mapping , path planning ,and driving. A higher-level process ,called a task planner , specifies-the-destinationand-any-cen-straints--0n-the-GGUrse suGh as-tim~. Path planning is a popular subject in robotics and becoming increasingly importance in crunputei: animation and virtual-reality. as-welk Meth0ds-foi:-findi-ng wUisien-frne path~ are being studied for 2 D and 3D environments clutterd with obstacles. This experiment address-the- problem of finding a- cellision ffee pat-h- ffem- an- initial .. pGsition-to-a, goal position in a 2 dimensional world that contains obstacles. It is assumed that the robot as a I?Oint. Several approaches- and- -algm:ithms- tG- this- experiment--are presented- Mapping and modelling by x-Window programming , A composite-space graph used to find paths ,and A* searnh-algorithm was-used--to-generate-Gf-select-the "mGst-efficient'~ path-t(:hgoal. |
| Year | 1999 |
| Type | Thesis |
| School | School of Advanced Technologies |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun.; |
| Examination Committee(s) | Afzulpurkar, Nitin;Bohez, Erik L.J.; |
| Scholarship Donor(s) | Royal Thai Government Scholarship.; |
| Degree | Thesis (M.Sc.) - Asian Institute of Technology, 1999 |