Determination of goal pose for accurate parking of nonholonomic robots

• Main Author: Ng, Zhihong
• Other Authors: Teoh Eam Khwang
• Format: Final Year Project
• Language: English
• Published: 2018
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/76298
• Institution: Nanyang Technological University

As technology has become more advanced, engineers are able to design an autonomous robot that could deal with various kinds of hectic work environment problems. Autonomous robots regularly have advanced highlights, for example, the machine learnings that can assist them in understanding their physical condition and mechanize parts of their support and heading that used to be executed by human hands. In collaboration with the ASTAR Research Institute (ASTAR), this project aims to determine the goal pose for accurate parking for non-holonomic robots using Astar Search Algorithm with heuristics functions added to guide its search and better its performance. The use of Astar Search algorithm not only enable the autonomous robot to find the goal location accurately but also able to avoid stationary obstacles that are obstructing its path. Other searching algorithms will also be examined in the section of the literature review. The features application of this Final Year Project (FYP) can be implemented in the hospital environment where the autonomous robot can assist the nurses to execute the simple tasks such as giving medicine to the patients, delivering meals to patients, interacting with patients, etc. The used of the autonomous robot also helps to reduce manpower option, in returns cost savings.