Finding the Kernel in an Unknown Polygon by a Robot with Minimal Sensing

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Haratian, Saeed | 2014

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 46703 (19)
University: Sharif University of Technology
Department: Computer Engineering
Advisor(s): Ghodsi, Mohammad
Abstract:
In this research, we want to find a point of the kernel in an unknown star-shaped polygon by a robot with minimal sensing, such that the path is not far from the optimum path. The robot has a gap sensor which detects the dicontinuities (gaps) in its visibility polygon and detects the direction of gaps. The robat can move toward or against these gaps. Also, the robot has a compass, and detects the North, the West, the South and the East. The robot detects the position of gaps between these directions, and also, can move along these directions. In this research, we present an on-line algorithm, by which this robot can find a point of the kernel in an unknown star-shaped polygon. The compatative ratio of the path is better than 5.5908 with respect to the optimum path (direct move from the start to the nearest point of the kernel)
Keywords:
Computational Geometry ; Core ; Motion Planning ; Unknoun Polygon ; Robot with Minimal Sensing ; Star-Shaped Polygon