Circuit grid approach for mobile robot path planning
The path planning is still a challenging problem even after the past 30 years' research. A global off-line path planning algorithm based on circuit grid approach is presented in this dissertation. This approach makes it easy to find the optimal feasible path. The generated path function can com...
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| Format: | Thesis |
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2008
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| Online Access: | http://hdl.handle.net/10356/3801 |
| _version_ | 1811682297913540608 |
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| author | Xing, Likun. |
| author2 | Wang, Danwei |
| author_facet | Wang, Danwei Xing, Likun. |
| author_sort | Xing, Likun. |
| collection | NTU |
| description | The path planning is still a challenging problem even after the past 30 years' research. A global off-line path planning algorithm based on circuit grid approach is presented in this dissertation. This approach makes it easy to find the optimal feasible path. The generated path function can combine various environmental conditions such as hazardous, jamming and broad, etc. It overcomes the shortcoming of local optimum traps in some path planners. Also, this algorithm is always converging if a feasible path does exist. |
| first_indexed | 2024-10-01T03:54:36Z |
| format | Thesis |
| id | ntu-10356/3801 |
| institution | Nanyang Technological University |
| last_indexed | 2024-10-01T03:54:36Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | ntu-10356/38012023-07-04T15:01:00Z Circuit grid approach for mobile robot path planning Xing, Likun. Wang, Danwei School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics The path planning is still a challenging problem even after the past 30 years' research. A global off-line path planning algorithm based on circuit grid approach is presented in this dissertation. This approach makes it easy to find the optimal feasible path. The generated path function can combine various environmental conditions such as hazardous, jamming and broad, etc. It overcomes the shortcoming of local optimum traps in some path planners. Also, this algorithm is always converging if a feasible path does exist. Master of Science (Computer Control and Automation) 2008-09-17T09:37:49Z 2008-09-17T09:37:49Z 2005 2005 Thesis http://hdl.handle.net/10356/3801 Nanyang Technological University application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Xing, Likun. Circuit grid approach for mobile robot path planning |
| title | Circuit grid approach for mobile robot path planning |
| title_full | Circuit grid approach for mobile robot path planning |
| title_fullStr | Circuit grid approach for mobile robot path planning |
| title_full_unstemmed | Circuit grid approach for mobile robot path planning |
| title_short | Circuit grid approach for mobile robot path planning |
| title_sort | circuit grid approach for mobile robot path planning |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics |
| url | http://hdl.handle.net/10356/3801 |
| work_keys_str_mv | AT xinglikun circuitgridapproachformobilerobotpathplanning |