Hierarchical motion planning of differential-drive mobile robots in changing environments
To operate in changing environments, AGV should have the capability to plan safe and smooth trajectories to follow. Map-based motion planning has been investigated extensively with a large number of approaches developed. However, in unknown environments, map information generally cannot be update...
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| Format: | Thesis-Master by Coursework |
| Language: | English |
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Nanyang Technological University
2023
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| Online Access: | https://hdl.handle.net/10356/165294 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | To operate in changing environments, AGV should have the capability to plan
safe and smooth trajectories to follow. Map-based motion planning has been
investigated extensively with a large number of approaches developed. However,
in unknown environments, map information generally cannot be updated in real-time. In this case, a collision may happen due to outdated obstacle information.
To address this challenge, a hierarchical motion planning approach is proposed
in this dissertation. Firstly, the global planner is updating the global path at an
assigned frequency, on the basis of the current map. Secondly, the local planner
will plan an obstacle-free local path based on the global plan, the map, and the
sensor’s information. The modified approaches have been validated in Gazebo
simulations and real experiments. |
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