Dynamic Motion Planning and Obstacle Avoidance Simulation for Autonomous Robot-car in Webots, M.Sc. Thesis Sharif University of Technology ; Jamzad, Mansour (Supervisor)
Abstract
Motion planning in an autonomous vehicle is responsible for providing smooth, safe and efficient actions. Besides reducing the risk of collision with static and moving obstacles, the ability to make suitable decisionsencountering sudden changes in environment is very important. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and computationally low cost method which keeps the robot away from the obstacles in the environment. However, this approach suffers from trapping in local minima’s of potential function and then fails to produce a plan. Furthermore,Oscillation in presence of obstacles or in narrow passages...
Cataloging briefDynamic Motion Planning and Obstacle Avoidance Simulation for Autonomous Robot-car in Webots, M.Sc. Thesis Sharif University of Technology ; Jamzad, Mansour (Supervisor)
Abstract
Motion planning in an autonomous vehicle is responsible for providing smooth, safe and efficient actions. Besides reducing the risk of collision with static and moving obstacles, the ability to make suitable decisionsencountering sudden changes in environment is very important. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and computationally low cost method which keeps the robot away from the obstacles in the environment. However, this approach suffers from trapping in local minima’s of potential function and then fails to produce a plan. Furthermore,Oscillation in presence of obstacles or in narrow passages...
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