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Motion Planning for Non-Holonomic Mobile Robots in Cluttered Environment

Thesis Info

Access Option

External Link

Author

Noreen, Iram

Supervisor

Zulfiqar Habib

Program

PhD

Institute

COMSATS University Islamabad

City

Islamabad

Province

Islamabad.

Country

Pakistan

Thesis Completing Year

2018

Thesis Completion Status

Completed

Subject

Computer Science

Language

English

Link

http://prr.hec.gov.pk/jspui/bitstream/123456789/13617/1/IramsThesis%2028-01-2018%20-%20reduced.pdf

Added

2021-02-17 19:49:13

Modified

2024-03-24 20:25:49

ARI ID

1676727792772

Similar


Motion planning for mobile robots has several important applications in industry, planetary operations, defence, and medical automation. Planning an optimal path for nonholonomic (such as car-like) mobile robots is a vital aspect of this domain. Rapidlyexploring Random Tree Star (RRT*) has gained immense popularity due to its feasibility for path planning of non-holonomic mobile robots. Moreover, it does not require explicit information of environment obstacles and also supports complex high dimensional problems very well. Though RRT* is widely used method for path planning of mobile robots; slow convergence rate, large memory requirements and sub-optimal jagged paths are its proven problems. Such jagged paths consume more fuel and time during path following process and exert robot’s controller module also. Incorporating smoothness in jagged paths by satisfying differential constraints during planning phase increases the complexity of problem. Another solution is to use post processing smoothness techniques. However, after applying smoothness, resultant smooth path deviates the robot from planned path and introduces collision again. Since, most of the robots are battery operated; therefore planned path is required to be time and energy efficient, i.e., smooth and short. This thesis presents a comprehensive overview of state of the art path planning and path smoothing approaches. Secondly, a planning algorithm RRT*-Adjustable Bounds (RRT*-AB) is proposed to resolve the aforementioned issues in RRT*. The proposed planner has introduced novel strategies for space exploration and path optimization. Robustness and efficiency of proposed algorithm is tested using different environment maps of standard robotic datasets. These environment maps are cluttered with structured and unstructured obstacles, including narrow and complex maze cases. A thorough performance comparison along with numerical and theoretical complexity analysis of the proposed approach with state of the art techniques, i.e., RRT* and RRT*-Smart is also presented. Performance analysis shows that proposed approach has significantly improved path length, execution time and memory requirements even in narrow and dense environment. It has improved convergence rate up to 93 percent. Further, a path smoothing approach is applied to make the planner generated path feasible for non-holonomic mobile robots. The proposed smoothing approach uses clamped B-spline with automatic and economical control point adjustment while maintaining collision-free route. It also improves smooth path by eliminating post smoothness collisions, if any with desired smoothness. Proposed smoothing approach generates collision-free smooth path with reduced path length and execution time. In the end, thesis concludes with future research directions.
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40. Ghaafir/The Forgiver

I/We begin by the Blessed Name of Allah

The Immensely Merciful to all, The Infinitely Compassionate to everyone.

40:01
a. Ha. Mim.

40:02
a. The sending down of This Book - The Qur’an - is from Allah - The One and Only God of everyone and every thing.
b. Allah - The Almighty, All-Knowing.

40:03
a. Allah - The Forgiver of impieties and sinful trespasses, and
b. Allah - The Acceptor of remorse and repentance, yet
c. Allah - The Severe in punishment,
d. Allah - The Infinite in bounty.
e. There is no worshipful entity other than HIM.
f. To HIM is the ultimate return upon death/the Resurrection.

40:04
a. No one disputes Allah’s Messages - The Qur’an - except for those who intentionally
disbelieve.
b. So do not be dazzled by their prosperity in the land.

40:05
a. The people who came before them also belied the truth - like the People of Noah and after them from other groups and communities, and
b. every community plotted to seize its Messenger and render him dysfunctional, and
c. endeavored to refute the Truth with falsehood.
d. Bur it was I WHO seized them -
e. and see how awful was MY Punishment!

40:06
a. And likewise the Word of your Rabb - The Lord got justified against those who disbelieved, that
b. ‘They will be the People of the Fire!’

40:07
a. Those angels who bear The Divine Throne of Almightiness and all those angelic forces who are around it-
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c. and having faith...

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