Event-driven path planning for non-holonomic robots

• Main Author: Ong @Wang, Jiawei
• Other Authors: Wen Changyun
• Format: Final Year Project
• Language: English
• Published: 2019
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/78471
• Institution: Nanyang Technological University

Non-holonomic robots are heavily studied in the area of motion planning, not only due to its popularity and high usability, but also because of the difficulties and challenges in controlling it. The robotics and autonomous vehicles section under the Institute of Infocomm Research (I2R) from the Agency of Science, Technology and Research (A*STAR) has been looking into this area extensively. A novel parking controller has been proposed, which can asymptotically stabilise non-holonomic robots, based on the new insight of a controllable subset within the singularity set, which has been avoided in prior studies. This new parking controller has enabled asymptotic stabilisation, and can be applied in various parking methods to create a smoother trajectory with significantly less oscillation, while parking more accurately. In this final year project, implementations of two proposed parking systems will be discussed. One will be a dual-stage parking system, while the other would be a parallel parking system.