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Motion Planning for Non-Holonomic Mobile Robots in Cluttered Environment

Thesis Info

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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

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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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ڈینی سن راس

ڈینی سن راس
ہندوستان کے ایک مشہور ادیب وشاعر کے ساتھ یورپ کے ایک نامور مستشرق کابھی ماتم کرناہے۔ان کانام ڈینی سن راس تھا۔سرکاخطاب رکھتے تھے۔ عربی اورترکی ادبیات پراُن کی نظر وسیع تھی۔لندن کے مشہور اسکول آف اورینٹل اسڈیز کے ڈائریکٹر رہے اوراس سے پہلے مدرسہ عالیہ کلکتہ کے بھی پرنسپل رہ چکے تھے۔ اورپھر سب سے بڑی بات یہ ہے کہ اس علم وفضل کے باوصف مارگیولیوتھ ایسے متعصب مستشرقین کے برخلاف سرڈینی سن راس مسٹر آرنلڈ کی طرح اسلام اورمسلمانوں کے ساتھ ایک بڑی حد تک دوستانہ روش رکھتے تھے۔افسوس ہے گذشتہ ماہ اُن کے انتقال سے یورپ کے علمی حلقے السنۂ مشرقیہ کے ایک نامور فاضل سے محروم ہوگئے۔ [اکتوبر۱۹۴۰ء]

 

برصغیر میں اصول تفسیر کے مناہج و دبستان اور نمائندہ شخصیات کی علمی تراث کا تجزیاتی مطالعہ

The Quranic sciences of interpretations and principles of interpretations were originated in the epoch of holy prophet (saw) but compilation of both were started later. This is called principles of interpretations, which is the basic and important part of Islamic studies. Islamic scholars, commentators and explicators explained the holy Quran in the light of principles of interpretations. These are such basic principles those are guide lines for them so they will not deviate or drop the right way while interpreting and explaining the holy verses. These principles are laid down and followed by them so that they may find the will of Allah and actual meaning of holy Quran. A little difference in principles causes a huge difference in interpretation. Different methodology in principles resulted in many schools of thought. This article focusses on examining these schools of thought found in sub-continent and introduce their main books. This article deals with chronological evolution of said knowledge i.e. Principles of interpretations, and Quranic sciences specially originated by the famous principalities and interpreters of sub-continent.

Osteo-Morphological and Radiograhpic Studies on the Axial and Appendicular Skeleton of Adult Chinkara Gazella Bennettii

The study is carried out on the gross anatomy, biometry and radiographic analysis of tarsal bones in twenty specimens of male and female adult Chinkara (Gazella bennettii) at the University of Veterinary and Animal Sciences (UVAS), Lahore, Pakistan. The tarsus of Chinkara comprises of five bones both grossly and radiographically, settled in three transverse rows viz, tibial and fibular tarsal in the proximal, central and fourth fused tarsal in the middle row, while, the first, second and third fused tarsal in the distal row. The fibular tarsal is the largest and longest bone of the hock, situated on the lateral side and had a bulbous tuber calcis "point of the hock" at the proximal extremity which projects upward and backward. The tibial tarsal bone is the 2nd largest bone of the proximal row, lies on the medial side of the tarsus and bears trochlea at either end. The central and the fourth tarsals are joined to form a large bone which is extended across the entire width of the tarsus and articulates with all bones of the tarsus. The first tarsal is a rectangular piece of bone sited on the posteromedial surface of the hock. The second and third fused tarsal bone resembles the central but is smaller and wedge-shaped. It is situated between the central tarsal bone proximally and the large metatarsal bone distally. The average maximum height and breadth for fibular tarsal, tibial tarsal, central and fourth fused tarsal, first tarsal, second and third fused tarsal are (5.61±0.23 cm and 2.06±0.13 cm), (2.79±0.05 cm and 1.74±0.01 cm), (1.51± 0.13 cm and 2.08±0.07cm), (0.61 ±0.01 cm and 1.10±0.06 cm) and (0.98±0.01 cm and 1.49±0.01 cm), respectively. GROSS AND CLINICAL ANATOMY OF THE SKULL OF ADULT CHINKARA (GAZELLA BENNETTII) The objective of this study was (1) to study gross morphological, osteometric and clinical important landmarks in the skull of adult Chinkara to obtain baseline data and (2) to study sexual dimorphism in male and female adult Chinkara through osteometry. For this purpose, after performing postmortem examination, the carcass of adult Chinkara of known sex and age was buried, after a specific period of time the bones were unearthed. The shape of the Chinkara skull was elongated and had thirty two bones. The skull was comprised of the cranial and the facial part. The facial region of the skull was formed by maxilla, incisive, palatine, vomar, pterygoid, frontal, parietal, nasal, incisive, turbinates, mandible and hyoid apparatus. The bony region of the cranium of Chinkara was comprised of occipital, ethmoid, sphenoid, interparietal, parietal, temporal and frontal bone. The foramina identified in the facial region of the skull of Chinkara were, infraorbital, supraorbital foramen, lacrimal, sphenopalatine, maxillary and caudal palatine foramina. The foramina of the cranium of the Chinkara skull were the internal acoustic meatus, external acoustic meatus, hypoglossal canal, transverse canal, sphenorbital fissure, carotid canal, foramen magnum, stylomastoid foramen, foramen rotundum, foramen ovale and jugular foramen, and the rostral and the caudal foramina that formed the pterygoid canal. The measured craniometric parameters did not show statistically significant differences (p>0.05) between male and female adult Chinkara except palatine bone, OI, DO, IOCDE, OCT, ICW, IPCW, and PCPL were significantly higher (p>0.05) in male than female Chinkara and mean values of the mandibular parameters except b and h were significantly (p< 0.5) higher in male than female Chinkara. Sexual dimorphism exists in some of the orbital and foramen magnum parameters, while high levels of sexual dimorphism identified in mandible. In conclusion, morphocraniometric studies of Chinkara skull made it possible to identify species specific skull and use clinical measurements during practical application.