Online motion planning and control for mobile robot navigation in unknown environment
In this dissertation, we proposed a robust and efficient navigation system for mobile robotics navigation in unknown environments. The navigation system mainly contains mapping, planning, and control modules. The mapping module receives sensor information and updates obstacle information into a loca...
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| Format: | Thesis-Master by Coursework |
| Language: | English |
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Nanyang Technological University
2023
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| Online Access: | https://hdl.handle.net/10356/166483 |
| _version_ | 1811692047513419776 |
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| author | Liang, Jiahao |
| author2 | Hu Guoqiang |
| author_facet | Hu Guoqiang Liang, Jiahao |
| author_sort | Liang, Jiahao |
| collection | NTU |
| description | In this dissertation, we proposed a robust and efficient navigation system for mobile robotics navigation in unknown environments. The navigation system mainly contains mapping, planning, and control modules. The mapping module receives sensor information and updates obstacle information into a local map for use by the planning module. The planning module is divided into two parts, the front-end, and the back-end. The front-end adopts the A⇤ algorithm to find a global path, and then the waypoints of the global path are inflated to generate safe corridors for the back-end. The back-end optimizes the smooth, safe and dynamic feasible trajectory which is represented by piecewise Bezier curves form. The control module receives the trajectory from the planner and controls the robot to track the desired trajectory accurately. The proposed navigation system is equipped with a differential-wheeled robot and validated by autonomous navigation experiments and hybrid obstacle avoidance experiments. |
| first_indexed | 2024-10-01T06:29:34Z |
| format | Thesis-Master by Coursework |
| id | ntu-10356/166483 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:29:34Z |
| publishDate | 2023 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1664832023-07-04T16:35:20Z Online motion planning and control for mobile robot navigation in unknown environment Liang, Jiahao Hu Guoqiang School of Electrical and Electronic Engineering GQHu@ntu.edu.sg Engineering::Electrical and electronic engineering::Computer hardware, software and systems In this dissertation, we proposed a robust and efficient navigation system for mobile robotics navigation in unknown environments. The navigation system mainly contains mapping, planning, and control modules. The mapping module receives sensor information and updates obstacle information into a local map for use by the planning module. The planning module is divided into two parts, the front-end, and the back-end. The front-end adopts the A⇤ algorithm to find a global path, and then the waypoints of the global path are inflated to generate safe corridors for the back-end. The back-end optimizes the smooth, safe and dynamic feasible trajectory which is represented by piecewise Bezier curves form. The control module receives the trajectory from the planner and controls the robot to track the desired trajectory accurately. The proposed navigation system is equipped with a differential-wheeled robot and validated by autonomous navigation experiments and hybrid obstacle avoidance experiments. Master of Science (Computer Control and Automation) 2023-04-28T01:53:44Z 2023-04-28T01:53:44Z 2023 Thesis-Master by Coursework Liang, J. (2023). Online motion planning and control for mobile robot navigation in unknown environment. Master's thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/166483 https://hdl.handle.net/10356/166483 en ISM-DISS-02926 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Electrical and electronic engineering::Computer hardware, software and systems Liang, Jiahao Online motion planning and control for mobile robot navigation in unknown environment |
| title | Online motion planning and control for mobile robot navigation in unknown environment |
| title_full | Online motion planning and control for mobile robot navigation in unknown environment |
| title_fullStr | Online motion planning and control for mobile robot navigation in unknown environment |
| title_full_unstemmed | Online motion planning and control for mobile robot navigation in unknown environment |
| title_short | Online motion planning and control for mobile robot navigation in unknown environment |
| title_sort | online motion planning and control for mobile robot navigation in unknown environment |
| topic | Engineering::Electrical and electronic engineering::Computer hardware, software and systems |
| url | https://hdl.handle.net/10356/166483 |
| work_keys_str_mv | AT liangjiahao onlinemotionplanningandcontrolformobilerobotnavigationinunknownenvironment |