A 24*7 patrolling mobile robot (part 1 - navigation)
Navigation is one of the research topics that are greatly funded by both government and private sector. A good example is the rising development of low-cost robotic space exploration where the robot is tasked to navigate and collect data from any specific planet or moon. Navigation can b...
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| 主要作者: | |
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| 其他作者: | |
| 格式: | Final Year Project |
| 語言: | English |
| 出版: |
2011
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| 主題: | |
| 在線閱讀: | http://hdl.handle.net/10356/44919 |
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| 總結: | Navigation is one of the research topics that are greatly funded by both government and
private sector. A good example is the rising development of low-cost robotic space
exploration where the robot is tasked to navigate and collect data from any specific planet or
moon.
Navigation can be classified into Localization, Path Planning and Obstacle Avoidance.
Localization is the ability to locate the current position of the robot within a region. Path
planning is a searching algorithm using a static map to compute a path to reach the target goal
using the given current position while Obstacle Avoidance is the capability to re-plan the
given path by the Path Planning to prevent it from crashing into the obstacles.
In this Final Year Project, my task is to experiment with Dijkstra’s Algorithm for its reliability
in Path Planning and investigate which techniques, namely Trajectory Planner or Dynamics
Window Approach (DWA), is more suitable for Obstacle Avoidance. |
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