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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2013
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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 |