Research on motion planning of autonomous mobile robot
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The path planning algorithm in Yamabico is based on a variation of Dijkstra's algorithm which has time complexity of O(n2). This algorithm works well in a dynamic environment, but a faster algorithm, called the All-Pairs Minimum Cost Paths algorithm, works even faster, O(1), in the case of a static environment. The computational complexity of the All-Pairs algorithm is O(n3), but if we know all pairs in advance, that is, the environment is static, we can preprocess them in advance, and use table lookup instead of Dijkstra's algorithm. Thus, we implemented a table lookup version for the static case, and kept Dijkstra's algorithm for the dynamic case. This results in both speed and flexibility. This thesis also investigated the Linear Fitting Algorithm for Sonar testing. Range and angle data, from sonar, was fit to a straight line, giving resolution of 1 to 2.5 cm when the robot is within 100 to 150 cm of the line.
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Tan, Ko-Cheng (Monterey, California. Naval Postgraduate School, 1996-06);Motion planning and control of a Nomad 200 mobile robot are studied in this thesis. The objective is to develop a motion planning and control algorithm that is able to move the robot from an initial configuration (position ...
Lin, Deok-Jin; Mark, Richard (Advanced Robotic Systems International, 2010);This paper presents a cooperative control strategy for a team of aerial robotic vehicles to establish wireless airborne communication networks between distributed heterogeneous vehicles. Each aerial robot serves as a ...
A Simplified Quaternion-Based Algorithm for Orientation Estimation From Earth Gravity and Magnetic Field Measurements Yun, Xiaoping; Bachmann, Eric R.; McGhee, Robert B. (2008-03);Orientation of a static or slow-moving rigid body can be determined from the measured gravity and local magnetic field vectors. Some formulation of the QUaternion ESTimator (QUEST) algorithm is commonly used to solve ...