Algorithms and Environment Features for Pathfinding of Simple Robots

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Aletaha, Mohammad | 2021

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 54928 (19)
University: Sharif University of Technology
Department: Computer Engineering
Advisor(s): Ghodsi, Mohammad
Abstract:
In this research, the problem of path planning for simple robots is studied. The robot used in this study is a robot that can only detect the order of discontinuities in depth information (gaps). Former problems that have been studied so far for this type of robot are path planning and searching in street polygons. Street polygons are a type of simple polygons such that if a robot starts from a specific starting point on the street, pointing to the end of the street at another specific point, it has seen the whole area of the polygon. The main purpose of this research is to study the environment features and finding the algorithms for path planning in streets in general modes including free-target. Improvements to previous street search algorithms have also been studied. In addition, linear search and star search problems with integer steps are studied and we present a randomized strategy for it
Keywords:
Computational Geometry ; Robotics ; Online Algorithm ; Path Planning ; Robot Pathplanning ; Line Search