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PhD thesis
Motion planning of autonomous mobile robots in dynamic and unknown indoor environments
Faculty of Electrical Engineering and Computing, University of Zagreb, Croatia, 2010 (Supervisor: Professor Ivan PetroviŠ, dissertation No. - E - 88/2006)
ABSTRACT:
This thesis focuses on the problem of path planning for autonomous mobile robots in dynamic and unknown indoor environment. Special emphasis is set on algorithms suitable for real-time applications which should ensure the efficient movement of a robot with guaranteed moving obstacles avoidance in the environment. A path planning algorithm based on the grid map that calculates the shortest path in the geometric space is proposed. An algorithm of automatic creation of the hierarchical graph is proposed together with the hierarchical path planning algorithm suitable for mobile robot motion in real-time in a complex indoor environment. The problem of motion planning of mobile robot in unknown environment is solved by the proposed exploration algorithm, by which convergence of the exploration task in real terms is achieved. The path following methods based on dynamic window approach are considered, which take into account kinematic and dynamic constraints of the robot. The criterion for integration of the path planning algorithm and the dynamic window algorithm is introduced. The integrated motion planning algorithm is proposed which ensures a safe and smooth motion among moving obstacles. Finally, the motion planning algorithm based on the concept of receding horizon control is proposed, for which asymptotic stability of the goal point is proven via Lyapunov stability analysis. All proposed algorithms are tested by simulation and experimentally on a real robot in laboratory environments.
BibTeX entry:
@phdthesis \{Seder2010_421,
author = \{Seder, M.},
title = \{Motion planning of autonomous mobile robots in dynamic and unknown indoor environments},
pages = \{203},
school = \{Faculty of Electrical Engineering and Computing, University of Zagreb, Croatia},
year = \{2010}
}

 

 

 

 

 

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