Naval Postgraduate School
Dudley Knox Library
NPS Dudley Knox Library
View Item 
  •   Calhoun Home
  • Theses and Dissertations
  • 1. Thesis and Dissertation Collection, all items
  • View Item
  •   Calhoun Home
  • Theses and Dissertations
  • 1. Thesis and Dissertation Collection, all items
  • View Item
  • How to search in Calhoun
  • My Accounts
  • Ask a Librarian
JavaScript is disabled for your browser. Some features of this site may not work without it.

Browse

All of CalhounCollectionsThis Collection

My Account

LoginRegister

Statistics

Most Popular ItemsStatistics by CountryMost Popular Authors

Research on motion planning of autonomous mobile robot

Thumbnail
Download
Icon96Mar_Papadatos.pdf (4.637Mb)
Download Record
Download to EndNote/RefMan (RIS)
Download to BibTex
Author
Papadatos, Athanassios
Date
1996-03
Advisor
Kanayama, Yutaka
Yun, Xiaoping
Metadata
Show full item record
Abstract
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.
URI
https://hdl.handle.net/10945/32196
Collections
  • 1. Thesis and Dissertation Collection, all items

Related items

Showing items related by title, author, creator and subject.

  • Thumbnail

    Motion planning and dynamic control of the Nomad 200 mobile robot in a laboratory environment 

    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 ...
  • Thumbnail

    Decentralized control of unmanned aerial robots for wireless airborne communication networks 

    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 ...
  • Thumbnail

    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 this ...
NPS Dudley Knox LibraryDUDLEY KNOX LIBRARY
Feedback

411 Dyer Rd. Bldg. 339
Monterey, CA 93943
circdesk@nps.edu
(831) 656-2947
DSN 756-2947

    Federal Depository Library      


Start Your Research

Research Guides
Academic Writing
Ask a Librarian
Copyright at NPS
Graduate Writing Center
How to Cite
Library Liaisons
Research Tools
Thesis Processing Office

Find & Download

Databases List
Articles, Books & More
NPS Theses
NPS Faculty Publications: Calhoun
Journal Titles
Course Reserves

Use the Library

My Accounts
Request Article or Book
Borrow, Renew, Return
Tech Help
Remote Access
Workshops & Tours

For Faculty & Researchers
For International Students
For Alumni

Print, Copy, Scan, Fax
Rooms & Study Spaces
Floor Map
Computers & Software
Adapters, Lockers & More

Collections

NPS Archive: Calhoun
Restricted Resources
Special Collections & Archives
Federal Depository
Homeland Security Digital Library

About

Hours
Library Staff
About Us
Special Exhibits
Policies
Our Affiliates
Visit Us

NPS-Licensed Resources—Terms & Conditions
Copyright Notice

Naval Postgraduate School

Naval Postgraduate School
1 University Circle, Monterey, CA 93943
Driving Directions | Campus Map

This is an official U.S. Navy Website |  Please read our Privacy Policy Notice  |  FOIA |  Section 508 |  No FEAR Act |  Whistleblower Protection |  Copyright and Accessibility |  Contact Webmaster

Export search results

The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

A logged-in user can export up to 15000 items. If you're not logged in, you can export no more than 500 items.

To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.