Global Path Planning and Remote Control Design for Robotic Mobility Platform

• Main Authors: Chung-tai Weng, 翁崇泰
• Other Authors: Jr-Syu Yang
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/19463674735634962832

碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 96 === The objective of this research is to develop a robotic mobility platform, which using Segway RMP 50 to demonstrate the optimum path planning under A* algorithm and a developed map. Segway RMP 50 is the principal platform in this research. The self-designed mechanical loading structured is installed on the RMP 50 to set up the notebook computer/webcam. The robot system is capable to install more sensors to detect the environmental information beside this robot. A client control system is developed to be a server by the webcam and laptop computer. The other users are able to watch the pc screen to find out the related environmental images by the internet from the developed server. The A* algorithm and a developed grid map are applied to let this robot be able to avoid obstacle and make an optimum path planning. The simulation results show that the Segway RMP 50 system is capable to make a simple movement planning and to calculate the length of the moving path. Finally, the robot system is demonstrated its ability of obstacle–avoidance and the optimum path planning by the A* algorithm.