Path Planning in Unknown Environment with Minimal Sensing

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Tabatabaei, Azadeh | 2016

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Type of Document: Ph.D. Dissertation
Language: Farsi
Document No: 48897 (19)
University: Sharif University of Technology
Department: Computer Engineering
Advisor(s): Ghodsi, Mohammad
Abstract:
In this research, path planning in unknown environment is considered. It is assumed that the robot’s sensors are the only tools to collect information from the scene. Volume of the information gathered from the environment depends on the capability of the sensor. So, a detour from the optimal path is unavoidable. In this research, the basic robot is equipped with a minimal sensing system that only detects the iscontinuities in depth information (gaps). We present some online search strategies that guide such a robot to navigate unknown streets from a start point s to reach a target point t. Then, we empower the robot by adding a compass to patrol more general classes of polygons. We present some online strategies that generate search paths for the empowered robot in Generalized streets, a more general class of polygons that contains all streets properly, and in Star shapes. In order to evaluate the efficiency of our online search strategies for the robot, we use the notation of the competitive analysis
Keywords:
Competitive Analysis ; Computational Geometry ; Robot Pathplanning ; Online Algorithm ; Competetive Ratio ; Path Planning ; Unknown Environment