Investigation of Grid Map Inner/Outer Loops Detection and Path Planning Strategies

• Main Authors: Chyi-AnPang, 潘麒安
• Other Authors: Chao-Chung Peng
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/mt2bvu

碩士 === 國立成功大學 === 航空太空工程學系 === 106 === Owing to new technological advances, smart home has popularized in middle-class family. In recently years, a numerous research related to autonomous robots are emerge in endlessly, and most of them are inseparable from Simultaneous Localization and Mapping (SLAM). For an autonomous robots with high integrity, in addition to the ability of positioning, the most important thing is to have the ability moving autonomously, therefore path planning algorithm is a very important part. Compared with many existing literatures and papers in regard to path planning, most of them are making an assumption in a static and ideal environment, the algorithm feasibility is very low. In this regard, this paper will have an in-depth discussions on the currently widely used path planning algorithms based on the grid map provided by SLAM. Besides, this paper will present some optimization idea of path planning algorithm and integrated into different methodology that can have higher robustness in the actual environment. In addition, the simulation part will demonstrate different optimization result and discussing the efficiency of different path planning methodology which has mentioned in previous chapter.