Robotic path planning using rapidly-exploring random trees

This study concerns the implementation of Rapidly-Exploring Random Trees (RRTs) algorithm for an autonomous robot path planning. RRTs possesses a number of advantages such as relatively simple, suitable for finding a path for a robot with dynamic and physical constraints, the expansion of RRT is...

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Bibliographic Details
Main Author:	Sherwani, Fahad
Format:	Thesis
Language:	English English
Published:	2013
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.uthm.edu.my/1898/1/24p%20FAHAD%20SHERWANI.pdf http://eprints.uthm.edu.my/1898/2/FAHAD%20SHERWANI%20WATERMARK.pdf
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id	my-uthm-ep.1898
record_format	uketd_dc
spelling	my-uthm-ep.18982021-10-12T04:31:40Z Robotic path planning using rapidly-exploring random trees 2013-01 Sherwani, Fahad TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) This study concerns the implementation of Rapidly-Exploring Random Trees (RRTs) algorithm for an autonomous robot path planning. RRTs possesses a number of advantages such as relatively simple, suitable for finding a path for a robot with dynamic and physical constraints, the expansion of RRT is heavily biased toward unexplored areas of search space and the number of edges is minimal. However, the planned path by using basic RRT structure might not always be optimal in terms of path length. Therefore, a path pruning method has been proposed to address this issue and improve the overall performance of the RRTs. Through simulations, the path pruning method has been proven to reduce paths lengths while preserving the aforementioned advantages of RRTs. A Graphical User Interface (GUI) has also been developed to demonstrate the RRTs technique in planning a path for an autonomous robot. The GUI package is designed to be interactive and user�friendly even for the users with minimal or no guidance and practice. 2013-01 Thesis http://eprints.uthm.edu.my/1898/ http://eprints.uthm.edu.my/1898/1/24p%20FAHAD%20SHERWANI.pdf text en public http://eprints.uthm.edu.my/1898/2/FAHAD%20SHERWANI%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Onn Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English
topic	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery Sherwani, Fahad Robotic path planning using rapidly-exploring random trees
description	This study concerns the implementation of Rapidly-Exploring Random Trees (RRTs) algorithm for an autonomous robot path planning. RRTs possesses a number of advantages such as relatively simple, suitable for finding a path for a robot with dynamic and physical constraints, the expansion of RRT is heavily biased toward unexplored areas of search space and the number of edges is minimal. However, the planned path by using basic RRT structure might not always be optimal in terms of path length. Therefore, a path pruning method has been proposed to address this issue and improve the overall performance of the RRTs. Through simulations, the path pruning method has been proven to reduce paths lengths while preserving the aforementioned advantages of RRTs. A Graphical User Interface (GUI) has also been developed to demonstrate the RRTs technique in planning a path for an autonomous robot. The GUI package is designed to be interactive and user�friendly even for the users with minimal or no guidance and practice.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Sherwani, Fahad
author_facet	Sherwani, Fahad
author_sort	Sherwani, Fahad
title	Robotic path planning using rapidly-exploring random trees
title_short	Robotic path planning using rapidly-exploring random trees
title_full	Robotic path planning using rapidly-exploring random trees
title_fullStr	Robotic path planning using rapidly-exploring random trees
title_full_unstemmed	Robotic path planning using rapidly-exploring random trees
title_sort	robotic path planning using rapidly-exploring random trees
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2013
url	http://eprints.uthm.edu.my/1898/1/24p%20FAHAD%20SHERWANI.pdf http://eprints.uthm.edu.my/1898/2/FAHAD%20SHERWANI%20WATERMARK.pdf
_version_	1747830877249863680

Robotic path planning using rapidly-exploring random trees

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