The local motion planning for an autonomous mobile robot
Yun, Seok Jun
MetadataShow full item record
The major problem addressed by this research is how to develop a motion control algorithm for local motion planning of an autonomous mobile robot. The approach taken was to clearly define the robot's motion descriptions and to design a high-level, machine independent robot control language called MML (Model-based Mobile robot Language). The results are that the robot can implement smooth rotation, symmetric, and initial motion tracking on an given environment. Based on the motion control algorithm developed in this thesis, the robot with rigid body can be applicable in both local and global motion planning. The experimental results were successful. The algorithms were implemented first on a simulator, then on the autonomous mobile robot Yamabico- Ji. Given an initial and final configuration, the vehicle demonstrated the capability to safely achieve its goal.
Showing items related by title, author, creator and subject.
Shirasaka, Masahide (Monterey, California. Naval Postgraduate School, 1994-09);There are two goals for autonomous vehicle navigation planning: shortest path and safe path. These goals are often in conflict; path safety is more important. Safety of the autonomous vehicle's navigation is determined by ...
Chuang, Chien-Liang (Monterey, California. Naval Postgraduate School, 1995-09);The major problem addressed by this research is how to plan a safe motion for autonomous vehicles in a two dimensional, rectilinear world. With given start and goal configurations, the planner performs motion planning which ...
New motion planning and real-time localization methods using proximity for autonomous mobile robots Wahdan, Mahmoud A. (Monterey, California. Naval Postgraduate School, 1996-09);One of the most difficult theoretical problems in robotics--motion planning for rigid body robots-- must be solved before a robot can perform real- world tasks such as mine searching and processing. This dissertation ...