Motion planning and dynamic control of the Nomad 200 mobile robot in a laboratory environment
MetadataShow full item record
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 and orientation) to a goal configuration in a typical laboratory environment. The robot must be able to avoid unknown static (e.g., walls and tables) and dynamic (e.g., people) obstacles. Dubin's algorithm finds the shortest path connecting two configurations in an obstacle-free environment, but it is not able to avoid obstacles present in the environment. The potential field algorithm is effective in avoiding unknown obstacles, but it has the local minimum problem and does not consider the orientation of a mobile robot. A modified potential field algorithm is first developed. The algorithm overcomes local minima in a typical laboratory environment. The modified potential field algorithm is then combined with Dubin's algorithm to incorporate orientation into motion planning. The combined algorithm is able to avoid static and dynamic obstacles and achieve position and orientation requirements. Simulation and physical experiment results are presented to demonstrate the effectiveness of the algorithm
Approved for public release; distribution in unlimited.
Showing items related by title, author, creator and subject.
Huang, Jo-Wen (Monterey, California: Naval Postgraduate School, 2017-06);With the development and advancement in the technology of control and multi-robot systems, robot agents are likely to take over mine countermeasure (MCM) missions one day. The path planning coverage algorithm is an essential ...
Crane, Jerry Allen (Monterey, California. Naval Postgraduate School, 1991-09);This thesis describes a method for computing globally shortest paths for a point robot in a two-dimensional, orthogonal world composed of convex and concave polygons through the construction of obstacle common tangent ...
Hurni, Michael A.; Sekhavat, Pooya; Ross, Michael I. (The American Institute of Aeronautics and Astronautics (AIAA), 2008-08-18);We present a dynamic optimal control method for autonomous trajectory planning and control of an Unmanned Ground Vehicle (UGV) using real-time information updates. The objective of the UGV is to traverse from an initial ...