Path planning algorithm for a car like robot based on MILP method
This project is presents an algorithm for path planning optimal routes mobile robot “like a car” to a target in unknown environment. The proposed algorithm allows a mobile robot to navigate through static obstacles and finding the path in order to reach the target without collision. This algor...
| Main Author: | |
|---|---|
| Format: | Thesis |
| Language: | English English English |
| Published: |
2013
|
| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/1979/1/24p%20MOHD%20PAWZI%20MOHD%20SADRI.pdf http://eprints.uthm.edu.my/1979/2/MOHD%20PAWZI%20MOHD%20SADRI%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/1979/3/MOHD%20PAWZI%20MOHD%20SADRI%20WATERMARK.pdf |
| Summary: | This project is presents an algorithm for path planning optimal routes mobile robot
“like a car” to a target in unknown environment. The proposed algorithm allows a
mobile robot to navigate through static obstacles and finding the path in order to
reach the target without collision. This algorithm provides the robot the possibility to
move from the initial position to the final position (target). The proposed path
finding strategy is to use mathematical programming techniques to find the optimal
path between to state for mobile robot designed in unknown environment with
stationary obstacles. Formulation of the basic problems is to have the vehicle moved
from the initial dynamic state to a state without colliding with each other, while at
the same time avoiding other stationary obstacles. It is shown that this problem can
be rewritten as a linear program with mixed integer / linear constraints that account
for the collision avoidance. This approach is that the path optimization can be easily
solved using the CPLEX optimization software with AMPL interface / MATLAB.
The final phases are the design and build coalitions of linear programs and binary
constraints to avoid collision with obstacles by Integer Mixed Linear Program
(MILP). The findings of this research have shown that the MILP method can be used
in the path planning problem in terms of finding a safe and shortest path. This has
been combined with collision avoidance constraints to form a mixed integer linear
program, which can be solved by a commercial software package. |
|---|