A Motion Planning System in an Unknown Environment

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Korhani, Mohammad Saeed | 2012

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Type of Document: M.Sc. Thesis
Language: English
Document No: 42994 (55)
University: Sharif University of Technology, International Campus, Kish Island
Department: Science and Engineering
Advisor(s): Vosoughi Vahdat, Bijan; Mortazavi, Mohammad
Abstract:
Science has been improved in all aspects and robotics is considered an important field, which helps, do work more efficiently. In the meantime, one of the most popular aspects of robotics is the movement, both physical (in terms of the number of mechanical actuators, the number of arms and legs, the number of wheels, the robot's weight and gravity) and in terms of programming and algorithms. Programming and algorithms are divided into two categories: 1. Programs to control robots and manipulate dynamics associated with robot movement. 2. Algorithms and the ways for routing. The first group is programming associated with control of robots. Motion planning or path planning is the next. In this thesis we have explained motion planning which has been done in two environments: static and dynamic. We have focused on unknown environments which may be considered as dynamic where obstacle changes are slow.
Keywords:
Routing ; Dynamic Enviroment ; Motion Planning ; Autonomous Robot

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