Path planning algorithm for a car like robot based on Coronoi Diagram Method

The purpose of this study is to develop an efficient offline path planning algorithm that is capable of finding optimal collision-free paths from a starting point to a goal point. The algorithm is based on Voronoi diagram method for the environment representation combined with Dijkstra’s algor...

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Main Author:	Inun, Haidie
Format:	Thesis
Language:	English English English
Published:	2013
Subjects:	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General)
Online Access:	http://eprints.uthm.edu.my/1907/1/24p%20HAIDIE%20INUN.pdf http://eprints.uthm.edu.my/1907/2/HAIDIE%20INUN%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/1907/3/HAIDIE%20INUN%20WATERMARK.pdf
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id	my-uthm-ep.1907
record_format	uketd_dc
spelling	my-uthm-ep.19072021-10-12T04:33:53Z Path planning algorithm for a car like robot based on Coronoi Diagram Method 2013-01 Inun, Haidie TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) The purpose of this study is to develop an efficient offline path planning algorithm that is capable of finding optimal collision-free paths from a starting point to a goal point. The algorithm is based on Voronoi diagram method for the environment representation combined with Dijkstra’s algorithm to find the shortest path. Since Voronoi diagram path exhibits sharp corners and redundant turns, path tracking was applied considering the robot’s kinematic constraints. The results has shown that the Voronoi diagram path planning method recorded fast computational time as it provides simpler, faster and efficient path finding. The final path, after considering robot’s kinematic constraints, provides shorter path length and smoother compared to the original one. The final path can be tuned to the desired path by tuning the parameter setting; velocity, v and minimum turning radius, Rmin. In comparison with the Cell Decomposition method, it shows that Voronoi diagram has a faster computation time. This leads to the reduced cost in terms of time. The findings of this research have shown that Voronoi Diagram and Dijkstra’s Algorithm are a good combination in the path planning problem in terms of finding a safe and shortest path. 2013-01 Thesis http://eprints.uthm.edu.my/1907/ http://eprints.uthm.edu.my/1907/1/24p%20HAIDIE%20INUN.pdf text en public http://eprints.uthm.edu.my/1907/2/HAIDIE%20INUN%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/1907/3/HAIDIE%20INUN%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 English
topic	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General)
spellingShingle	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General) Inun, Haidie Path planning algorithm for a car like robot based on Coronoi Diagram Method
description	The purpose of this study is to develop an efficient offline path planning algorithm that is capable of finding optimal collision-free paths from a starting point to a goal point. The algorithm is based on Voronoi diagram method for the environment representation combined with Dijkstra’s algorithm to find the shortest path. Since Voronoi diagram path exhibits sharp corners and redundant turns, path tracking was applied considering the robot’s kinematic constraints. The results has shown that the Voronoi diagram path planning method recorded fast computational time as it provides simpler, faster and efficient path finding. The final path, after considering robot’s kinematic constraints, provides shorter path length and smoother compared to the original one. The final path can be tuned to the desired path by tuning the parameter setting; velocity, v and minimum turning radius, Rmin. In comparison with the Cell Decomposition method, it shows that Voronoi diagram has a faster computation time. This leads to the reduced cost in terms of time. The findings of this research have shown that Voronoi Diagram and Dijkstra’s Algorithm are a good combination in the path planning problem in terms of finding a safe and shortest path.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Inun, Haidie
author_facet	Inun, Haidie
author_sort	Inun, Haidie
title	Path planning algorithm for a car like robot based on Coronoi Diagram Method
title_short	Path planning algorithm for a car like robot based on Coronoi Diagram Method
title_full	Path planning algorithm for a car like robot based on Coronoi Diagram Method
title_fullStr	Path planning algorithm for a car like robot based on Coronoi Diagram Method
title_full_unstemmed	Path planning algorithm for a car like robot based on Coronoi Diagram Method
title_sort	path planning algorithm for a car like robot based on coronoi diagram method
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2013
url	http://eprints.uthm.edu.my/1907/1/24p%20HAIDIE%20INUN.pdf http://eprints.uthm.edu.my/1907/2/HAIDIE%20INUN%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/1907/3/HAIDIE%20INUN%20WATERMARK.pdf
_version_	1747830879440338944

Path planning algorithm for a car like robot based on Coronoi Diagram Method

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