Modelling and simulating obstacle avoidance for a legged robot via an A*-based algorithm with distance threshold
Humanoid robot has great potential in industry, service industry, education and other industries because of its similar body shape and operation ability, so the development of humanoid robot has been widely concerned by people in recent years. However, compared with other types of robots, humanoid r...
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| Format: | Thesis-Master by Coursework |
| Language: | English |
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Nanyang Technological University
2024
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| Online Access: | https://hdl.handle.net/10356/179894 |
| _version_ | 1811679299377299456 |
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| author | Zhu, Xinyang |
| author2 | Hu Guoqiang |
| author_facet | Hu Guoqiang Zhu, Xinyang |
| author_sort | Zhu, Xinyang |
| collection | NTU |
| description | Humanoid robot has great potential in industry, service industry, education and other industries because of its similar body shape and operation ability, so the development of humanoid robot has been widely concerned by people in recent years. However, compared with other types of robots, humanoid robots are usually more complex in structure and have higher degrees of freedom, and their body shape will be affected by joint movement during walking. As a result, existing path planning algorithms are not good for obstacle avoidance of humanoid robots. The humanoid robot may collide with the surrounding obstacles in the process of traveling along the planned path.
In order to reduce the occurrence of such a situation, this dissertation proposes an A*-based algorithm with distance threshold that considers the surrounding obstacle information, and adds a distance term to the heuristic function to judge whether there are obstacles in a certain range around nodes in the planned path, so as to consider the surrounding obstacle information in the path planning process. Then, the corresponding simulation environment is built in MATLAB and Gazebo respectively. In the simulation environment, the A* algorithm and the A*-based algorithm with distance threshold are used respectively to plan the path of the robot, and the path planning results of the two algorithms are compared and analyzed. |
| first_indexed | 2024-10-01T03:06:57Z |
| format | Thesis-Master by Coursework |
| id | ntu-10356/179894 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:06:57Z |
| publishDate | 2024 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1798942024-09-06T15:43:53Z Modelling and simulating obstacle avoidance for a legged robot via an A*-based algorithm with distance threshold Zhu, Xinyang Hu Guoqiang School of Electrical and Electronic Engineering GQHu@ntu.edu.sg Engineering A* algorithm Path planning Static obstacle avoidance Humanoid robot has great potential in industry, service industry, education and other industries because of its similar body shape and operation ability, so the development of humanoid robot has been widely concerned by people in recent years. However, compared with other types of robots, humanoid robots are usually more complex in structure and have higher degrees of freedom, and their body shape will be affected by joint movement during walking. As a result, existing path planning algorithms are not good for obstacle avoidance of humanoid robots. The humanoid robot may collide with the surrounding obstacles in the process of traveling along the planned path. In order to reduce the occurrence of such a situation, this dissertation proposes an A*-based algorithm with distance threshold that considers the surrounding obstacle information, and adds a distance term to the heuristic function to judge whether there are obstacles in a certain range around nodes in the planned path, so as to consider the surrounding obstacle information in the path planning process. Then, the corresponding simulation environment is built in MATLAB and Gazebo respectively. In the simulation environment, the A* algorithm and the A*-based algorithm with distance threshold are used respectively to plan the path of the robot, and the path planning results of the two algorithms are compared and analyzed. Master's degree 2024-09-02T02:06:20Z 2024-09-02T02:06:20Z 2024 Thesis-Master by Coursework Zhu, X. (2024). Modelling and simulating obstacle avoidance for a legged robot via an A*-based algorithm with distance threshold. Master's thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/179894 https://hdl.handle.net/10356/179894 en application/pdf Nanyang Technological University |
| spellingShingle | Engineering A* algorithm Path planning Static obstacle avoidance Zhu, Xinyang Modelling and simulating obstacle avoidance for a legged robot via an A*-based algorithm with distance threshold |
| title | Modelling and simulating obstacle avoidance for a legged robot via an A*-based algorithm with distance threshold |
| title_full | Modelling and simulating obstacle avoidance for a legged robot via an A*-based algorithm with distance threshold |
| title_fullStr | Modelling and simulating obstacle avoidance for a legged robot via an A*-based algorithm with distance threshold |
| title_full_unstemmed | Modelling and simulating obstacle avoidance for a legged robot via an A*-based algorithm with distance threshold |
| title_short | Modelling and simulating obstacle avoidance for a legged robot via an A*-based algorithm with distance threshold |
| title_sort | modelling and simulating obstacle avoidance for a legged robot via an a based algorithm with distance threshold |
| topic | Engineering A* algorithm Path planning Static obstacle avoidance |
| url | https://hdl.handle.net/10356/179894 |
| work_keys_str_mv | AT zhuxinyang modellingandsimulatingobstacleavoidanceforaleggedrobotviaanabasedalgorithmwithdistancethreshold |