The local motion planning for an autonomous mobile robot
| dc.contributor.advisor | Kanayama, Yutaka | |
| dc.contributor.author | Yun, Seok Jun | |
| dc.date | September 1995 | |
| dc.date.accessioned | 2013-08-13T22:07:10Z | |
| dc.date.available | 2013-08-13T22:07:10Z | |
| dc.date.issued | 1995-09 | |
| dc.identifier.uri | http://hdl.handle.net/10945/35223 | |
| dc.description.abstract | 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. | en_US |
| dc.description.uri | http://archive.org/details/thelocalmotionpl1094535223 | |
| dc.format.extent | 63 p. | en_US |
| dc.language.iso | en_US | |
| dc.publisher | Monterey, California. Naval Postgraduate School | en_US |
| dc.rights | This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States. | en_US |
| dc.title | The local motion planning for an autonomous mobile robot | en_US |
| dc.type | Thesis | en_US |
| dc.contributor.department | Computer Science | |
| dc.description.funder | NA | en_US |
| dc.description.recognition | NA | en_US |
| dc.description.service | Republic of Korea Army author. | en_US |
| etd.thesisdegree.name | M.S. in Computer Science | en_US |
| etd.thesisdegree.level | Masters | en_US |
| etd.thesisdegree.discipline | Computer Science | en_US |
| etd.thesisdegree.grantor | Naval Postgraduate School | en_US |
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