The Implementation and Realization of the Obstacle Avoidance Path Planning Algorithms for Mobile Robot
碩士 === 國立中興大學 === 生物產業機電工程學系所 === 98 === The paths by which autonomous robots are guided have to be collision-free and the shortest distance moving or less time required since the powers demanded and work efficiencies of robots are always take into account in workspace. The main purpose of the thesi...
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| Format: | Others |
| Language: | zh-TW |
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2010
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| Online Access: | http://ndltd.ncl.edu.tw/handle/48855418593069442565 |
| Summary: | 碩士 === 國立中興大學 === 生物產業機電工程學系所 === 98 === The paths by which autonomous robots are guided have to be collision-free and the shortest distance moving or less time required since the powers demanded and work efficiencies of robots are always take into account in workspace. The main purpose of the thesis is employing A* algorithms to implement global avoidance path planning. Various heuristic functions such as Diagonal、Euclidean、Dijkstra and Manhattan for different obstacle distributions will be compared in this thesis. After start point and destination are set on the developed user interface, path planning and simulation can be accomplished on the same interface on which obstacle distributions can be established by manual setting or Webcam detecting. Finally, the E-puck robot is guided by the planned path and moves on the testing platform to validate the efficiency and realization of the algorithms to robots.
The realization and guidance-testing results show that the developed path planning system dominated by A* algorithms is capable to provide a collision-free and the shortest path for the navigation of robots and to be realized on the E-puck robot guidance from start to destination.
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