Adaptive robot path planning with obstacle avoidance in a dynamic environment

dc.contributor.advisorde Figueiredo, Rui J. P.en_US
dc.creatorPham, Trung Taten_US
dc.date.accessioned2009-06-04T00:16:55Zen_US
dc.date.available2009-06-04T00:16:55Zen_US
dc.date.issued1991en_US
dc.description.abstractThe problem of path planning for a robotic system is considered, under the conditions in which both the target to be reached and the obstacles with which collision must be avoided are moving in a way not known in advance. To address this situation, an adaptive path planning scheme is proposed: A path is designed for a short time interval I between consecutive data points based on the data gathered at the beginning of I. In addition to this adaptive path planning scheme, a key contribution of this research has been the introduction, in the obstacle avoidance problem, of a new artificial potential energy function. This function, induced by an obstacle, depends not only on the robot's position but also on its velocity. Its use permits avoidance of false alarm and trapping caused by obstacles. Both the cases of a mobile robot system and a manipulator system are considered in detail. For a mobile robot, the system is modeled as a linear time-invariant system. The path planning problem is formulated in the form of two optimization problems: (i) Find the path as if there are no obstacles by minimizing the error between the state of the robot and that of the destination, and (ii) Find the path with obstacle avoidance by minimizing the sum of the deviation from the path computed in (i) and the artificial potential energy function resulting from the obstacles. For a manipulator, the problem is formulated and solved in a similar way. Solutions, analytical examples, and computer simulations are presented for both the mobile robot and manipulator cases.en_US
dc.format.extent120 p.en_US
dc.format.mimetypeapplication/pdfen_US
dc.identifier.callnoThesis E.E. 1991 Phamen_US
dc.identifier.citationPham, Trung Tat. "Adaptive robot path planning with obstacle avoidance in a dynamic environment." (1991) Diss., Rice University. <a href="https://hdl.handle.net/1911/16475">https://hdl.handle.net/1911/16475</a>.en_US
dc.identifier.urihttps://hdl.handle.net/1911/16475en_US
dc.language.isoengen_US
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.subjectElectronicsen_US
dc.subjectElectrical engineeringen_US
dc.titleAdaptive robot path planning with obstacle avoidance in a dynamic environmenten_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentElectrical Engineeringen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelDoctoralen_US
thesis.degree.nameDoctor of Philosophyen_US
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