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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

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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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حفیظؔ جالندھری

حفیظؔ جالندھری
ابوالاثر حفیظ جالندھری اردو شاعری کے مرصع کار ستون بنے رہے، اپنے آغاز شباب میں مناجات تہجد لکھی تو خواجہ حسن نظامی نے اس کو شائع کرکے لکھا کہ اگر میں دولت مند ہوتا تو اس مناجات کے ہر شعر کے معاوضہ میں ایک اشرفی نذر کرتا، کچھ دنوں وہ مزدوروں اور کسانوں کی دلسوزی کا بھی راگ الاپتے رہے، ہندو، مسلمانوں کو پریت کا گیت بھی سنایا، ’’ہندوستان ہمارا‘‘ میں تاریخ ہند کو نظم کرکے بچوں کے دلوں میں مطالعہ تاریخ کا ذوق پیدا کرنے کی بھی کوشش کی، مناظر فطرت کی مصوری بھی کی، جوانی کے جذبات کی ہنگامہ آرائی میں وہ نظم لکھی، جس کا عنوان ہے ’’ابھی تو میں جوان ہوں‘‘ اور یہ اب بھی بہت مقبول ہے، رومانی گیت لکھنے میں بھی مہارت رکھتے تھے، یکایک ان کا ذوق بدلا تو اس ملی شاعری کی طرف چل پڑے جس کی جوت ظفر علی خان اور اقبال نے جگائی تھی۔
راقم کو علی گڑھ مسلم یونیورسٹی میں ۱۹۳۴؁ء میں ان کا کلام ان کی زبانی سننے کا اتفاق ہوا تھا، وہاں طلبہ کی یونین میں مدعو تھے، جو ان کی آمد پر اوپر سے نیچے تک بھرگیا تھا، وہ اس وقت تک شاہنامہ اسلام کے شاعر کی حیثیت سے مشہور ہوچکے تھے، طلبہ ان سے اردو شاعری کے فردوسی کی حیثیت سے مل رہے تھے، انھوں نے شاہنامہ اسلام کا کچھ ٹکڑا اپنے خاص ترنم میں سنایا، تو ایسا محسوس ہوا کہ وہ واقعی ابوالاثر ہیں، شاہنامہ کی پہلی جلد ہی شائع ہوسکی، جس میں جنگ بدر تک کے حالات ہیں، اس زمانہ میں اعلان ہوا تھا کہ اس کی دوسری جلد میں غزوات نبویؐ کی تفصیل ہوگی، پھر تیسری جلد میں خلفائے راشدینؓ اور اسلامی فتوحات کی باری آئے گی، اردو شاعری کے اس فردوسی کو ایک محمود کی...

Discourse on Madrassah Education Reform in Pakistan: Challenges to State Narrative and its Implications

It is generally perceived that Madrassah produce extremism which possesses a threat to the peace and security of the state and to the world as well. Government along with local and International community wants to eradicate extremism and terrorism through reforming Madrassah education. The purpose of current study is to answer the question “why attempts of Madrassah reforms were unfruitful”? By focusing on it, study is divided into three phase such as to find out; different narrative on Madrassah reform, potential barriers in the way of reform and skepticisms associated with reformist policy. The main objective of current study is to understand the problems regarding Madrassah reform through realistic approach by addressing main question what are the challenges in developing alternative narrative on Madrassah reforms and its implications? The main investigation has three driving questions that what Madrassah reform means in point of view of different actors? What are main obstacles in the process of reform? And what are skepticisms about reform? In this qualitative study stakeholder interviews have been conducted. Results of the study indicates that Government narrative with regards to Madrassah education reform is to bring them into mainstream whereas religious community think that there are hidden agendas behind the modernization of Madrassahs. They viewed Madrassahs reforms to dilute the attention of religious sector from religious education to western education. Similarly, it viewed that changes in curricula, financial control, regulatory change, and vested interest are the main hurdles in the way of reform.

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