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Home > An Algorithm for the Solution of Trajectory Planning for Non- Non - Holonomic Mobile Robot in Presence of Obstacles

An Algorithm for the Solution of Trajectory Planning for Non- Non - Holonomic Mobile Robot in Presence of Obstacles

Thesis Info

Access Option

External Link

Author

Muhammad Arshad

Program

PhD

Institute

University of Engineering and Technology

City

Taxila

Province

Punjab

Country

Pakistan

Thesis Completing Year

2010

Thesis Completion Status

Completed

Subject

Applied Sciences

Language

English

Link

http://prr.hec.gov.pk/jspui/handle/123456789/1642

Added

2021-02-17 19:49:13

Modified

2024-03-24 20:25:49

ARI ID

1676725464597

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Path planning and trajectory generation for nonholonomic mobile robot in dynamic environment is a difficult problem. It has to consider the nonholonomic constraints of robot as well as the detection and avoidance of the possible collision with dynamic obstacles. In this research an adaptive path planning technique has been proposed for mobile robot motion in an environment with dynamic obstacles. A trajectory is formulated between the starting and target positions for the three wheeled mobile robot. For this purpose kinematics and dynamic models of the mobile robot have been used. Inverse kinematics model has been developed by the wheel space technique for calculating the required wheels displacements to reach the target location. A collision-free motion of robot between its starting and goal positions is required to be executed therefore, a safe global path which is a sequence of control points is planned, incorporating the prior knowledge of environment. Artificial potential function has been implemented for calculating intermediate target positions between the initial and final position of mobile robot, to avoid obstacles in its path. A feasible global path is calculated for vthe known environment and a time based trajectory is generated. This global path is set as a reference path for the wheeled mobile robot. When dynamic obstacles moving with certain velocity come in the path of mobile robot, it has to modify the path to avoid possible collision. An algorithm is proposed in this dissertation which efficiently detects and avoids the possible collision with dynamic obstacles. This novel algorithm detects possible collision with dynamic obstacle even if its velocity is not uniform. Expected collision of obstacle coming in the path of mobile robot is detected by measuring the relative velocity of obstacle and mobile robot at each time step. The reactive scheme of algorithm is activated for changing the velocity of mobile robot to avoid the expected possible collision and the local path planner plans a modified path to be executed by the mobile robot.
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ابوالکلام آزاد کے افکار عصری تناظر میں: (1958ء 1886ء)

آپ نے قلمی جد و جہد میں بھر پور کردار ادا کیا۔ آپ ایسے مجاہد تھے جس کی مثال دور دور تک نظر نہیں آتی ۔ آپ جید عالم تھے۔ آپ نے صحافت کا قبلہ درست کرنے میں اہم کردار ادا کیا۔ آپ شعلہ بیان خطیب تھے۔ انگریز کے ہندوستان سے رخصت ہو جانے کے بعد آپ ہندوستان کے پہلے وزیر تعلیم مقرر ہوئے ۔” ترجمان القرآن“، "تذکرہ" اور "خبار خاطر" آپ کی عمدہ ترین تخلیقات ہیں۔ ادبی ماہرین نے اپنے فن پاروں کو سجانے کے لیے جو ہنر آزمائے ہیں اُن سے نثر میں نیا رنگ ابھر کر آیا ہے ۔ ایسا ہی رنگ ابو الکلام آزاد کی نثر میں بھی دیکھنے کو ملتا ہے۔ آپ نے ”غبار خاطر“ لکھ کر نثر کو جو رنگ و آہنگ عطا کیا وہ بالکل نیا تھا اور اس سے پہلے اس رنگ کی جھلک بھی نظروں سے نہ گزری تھی۔ آپ نے کبھی فلسفی ہونے پر زور نہ دیا اور نہ ہی خود کو نظریہ ساز مفکر قرار دیا مگر یہ ضرور ہے کہ آپ نے نئے ذہن کی ترویج میں قوم کو نیا راستہ ضرور دکھایا۔ اس سے ظاہر ہوتا ہے کو قدرت نے آپ کو جو بصیرت عطا کی تھی وہ سمجھنے بوجھنے کے زیور سے آراستہ تھی۔
ابو الکلام آزاد کے علم و شخصیت نے ہندوستان میں جدید اسلام کی تشکیل کے لیے سرسید
احمد خاں اور اقبال کا انداز اختیار کیا۔ آپ نے 1912ء میں کلکتہ سے " الہلال " جاری کیا۔ اس مجلہ نے صحافت کی دنیا میں نہ صرف نام کمایا بلکہ سند و تصدیق کا درجہ حاصل کیا۔ جہاں تک اقبال اور مولانا ابوالکلام آزاد کے ذہنی رشتوں کی بات ہے تو ان میں کئی جگہ مماثلت پائی جاتی ہے۔ اقبال کے خطوط میں بھی مولانا کا ذکر نظر آتا ہے...

CORRELATION OF MYOFASCIAL TRIGGER POINTS WITH UPPER LIMB DISABILITY IN POST MASTECTOMY FEMALES IN PAKISTAN

Aims of Study: The objective was to correlate myofascial trigger points and upper limb disability in post-mastectomy females. Methodology: This six-month duration study included 45 participants aged 18 or older, using non-probability convenience sampling, who had undergone mastectomy at least six months prior. Numeric pain rating scale, Simon’s trigger point criteria and a disability questionnaire were used to assess disease complications. Results: A study involving 45 female participants (mean age 42.8±6.754) found that 33.3% had mild pain, 55.6% had moderate pain, and 11.1% had severe pain. Additionally, 46.7% had mild disability and 53.3% had moderate disability. There was a significant correlation between myofascial trigger points and upper extremity disability. Limitations and Future Implication: The limitations include the small sample size used in study and limited generalization of findings due to cultural and contextual factors. Further research is needed to explore interventions and understand the long-term impact of myofascial trigger points on upper limb function. Originality: This research is original in its focus on the correlation between myofascial trigger points and post-mastectomy upper limb disability. Conclusion: This study concluded that there is a highly significant relation between trigger points in muscles and disability of upper extremity in female patients after mastectomy.

Sla-Aware Energy Efficient Resource Management for Cloud Environments

Cloud Computing has emerged as one of the leading computational paradigms in recent times. It provides online services to customers using pay-as-you-go model and enables customers to outsource large and complex tasks to cloud data centers for remote execution and storage. As these large data centers provide basic resources to hosted tasks, they also consume a huge amount of energy, which leads to not only higher operating cost but also a large carbon footprint. Consequently, researchers proposed number of solutions to handle the aforementioned issues, and majority of these solutions are based on resource consolidation approach. Resource consolidation based techniques attempt to place the incoming tasks on minimum possible servers, thereby increasing the resource utilization and decreasing energy consumption. However, in case of fluctuating workloads, which is encountered regularly in cloud computing, aggressive consolidation increases the risks of Service Level Agreement (SLA) violations due to nonavailability of resources. Therefore, the focus of research has shifted towards SLA-aware energy-efficient solutions that attempt to reduce energy consumption and SLA violations simultaneously. In this work, improved resource management solutions are presented that attempt to reduce energy consumption while keeping down the SLA violations at the minimum. This research improved the existing energy-efficient techniques to further enhance their performance while introducing SLA-awareness. In the proposed solutions, lower and upper thresholds are used to identify the under-utilized and overutilized servers, respectively. In this research, five existing techniques are modified, namely; Best Fit Decreasing (BFD), Enhanced-Conscious Task Consolidation (ECTC), Maximum Utilization (MaxUtil), Power and Computing Capacity-Aware BFD (PCABFD), and Energy-aware and Performance per watt Oriented Best Fit (EPOBF). Moreover, the work also presents four novel SLA-aware energy-efficient resource management and workload consolidation techniques, namely; (1) Minimum Energy BFD (MEBFD), (2) Maximum Capacity BFD (MCBFD), (3) Available Capacity and Power (ACP) based technique, and (4) Required Capacity and Power (RCP) based technique. These techniques attempt to reduce energy consumption by using workload consolidation approach, wherein; thresholds are used to keep some of the resources free for handling workload fluctuations to avoid SLA violations. Moreover, a Pareto-Efficient Technique (PET) is proposed that explores the solution space in two dimensions (energy consumption and SLA violations). Further, a Behavior based Energy and SLA-aware Technique (BEST) is proposed that monitors the behavior of VMs and optimizes VM placement accordingly. In addition to resource allocation techniques, an SLA and Power-Aware VM (SPAVM) migration technique is proposed that does not migrate the VM instantly. Instead, SPAVM waits for a given period of time, and the VM is migrated to another server only if during that period VM resource demand doesn’t lower further. Alternatively, if the demand lowers then the VM is not migrated. Consequently, along with the number of migrations, power consumed on VM migrations is also reduced and SLA violations are dealt with by using the thresholds. In addition, this research presents two dynamic threshold mechanisms: (1) Exponential Smoothing based Threshold (EST) mechanism and (2) Moving Average based Threshold (MAT). Formal modeling and verification of the proposed techniques using Petri nets have been conducted. The extensive evaluation process is followed to analyze the performance of proposed techniques. Experimental results indicate that the proposed techniques improve both the energy efficiency and SLA-awareness as compared to recent techniques in literature. Techniques presented in this thesis can be used by the IT companies that have large data centers to process user''s data and tasks. The proposed solutions can help large cloud service providers in reducing energy expenditure while avoiding SLA violations leading to an increase in profitability.