Path planning algorithm for a car like robot based on MILP method

This project is presents an algorithm for path planning optimal routes mobile robot “like a car” to a target in unknown environment. The proposed algorithm allows a mobile robot to navigate through static obstacles and finding the path in order to reach the target without collision. This algor...

Full description

Saved in:

Bibliographic Details
Main Author:	Mohd Sadri, Mohd Pawzi
Format:	Thesis
Language:	English English English
Published:	2013
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.uthm.edu.my/1979/1/24p%20MOHD%20PAWZI%20MOHD%20SADRI.pdf http://eprints.uthm.edu.my/1979/2/MOHD%20PAWZI%20MOHD%20SADRI%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/1979/3/MOHD%20PAWZI%20MOHD%20SADRI%20WATERMARK.pdf
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my-uthm-ep.1979
record_format	uketd_dc
spelling	my-uthm-ep.19792021-10-14T05:50:28Z Path planning algorithm for a car like robot based on MILP method 2013-01 Mohd Sadri, Mohd Pawzi TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) This project is presents an algorithm for path planning optimal routes mobile robot “like a car” to a target in unknown environment. The proposed algorithm allows a mobile robot to navigate through static obstacles and finding the path in order to reach the target without collision. This algorithm provides the robot the possibility to move from the initial position to the final position (target). The proposed path finding strategy is to use mathematical programming techniques to find the optimal path between to state for mobile robot designed in unknown environment with stationary obstacles. Formulation of the basic problems is to have the vehicle moved from the initial dynamic state to a state without colliding with each other, while at the same time avoiding other stationary obstacles. It is shown that this problem can be rewritten as a linear program with mixed integer / linear constraints that account for the collision avoidance. This approach is that the path optimization can be easily solved using the CPLEX optimization software with AMPL interface / MATLAB. The final phases are the design and build coalitions of linear programs and binary constraints to avoid collision with obstacles by Integer Mixed Linear Program (MILP). The findings of this research have shown that the MILP method can be used in the path planning problem in terms of finding a safe and shortest path. This has been combined with collision avoidance constraints to form a mixed integer linear program, which can be solved by a commercial software package. 2013-01 Thesis http://eprints.uthm.edu.my/1979/ http://eprints.uthm.edu.my/1979/1/24p%20MOHD%20PAWZI%20MOHD%20SADRI.pdf text en public http://eprints.uthm.edu.my/1979/2/MOHD%20PAWZI%20MOHD%20SADRI%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/1979/3/MOHD%20PAWZI%20MOHD%20SADRI%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	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery Mohd Sadri, Mohd Pawzi Path planning algorithm for a car like robot based on MILP method
description	This project is presents an algorithm for path planning optimal routes mobile robot “like a car” to a target in unknown environment. The proposed algorithm allows a mobile robot to navigate through static obstacles and finding the path in order to reach the target without collision. This algorithm provides the robot the possibility to move from the initial position to the final position (target). The proposed path finding strategy is to use mathematical programming techniques to find the optimal path between to state for mobile robot designed in unknown environment with stationary obstacles. Formulation of the basic problems is to have the vehicle moved from the initial dynamic state to a state without colliding with each other, while at the same time avoiding other stationary obstacles. It is shown that this problem can be rewritten as a linear program with mixed integer / linear constraints that account for the collision avoidance. This approach is that the path optimization can be easily solved using the CPLEX optimization software with AMPL interface / MATLAB. The final phases are the design and build coalitions of linear programs and binary constraints to avoid collision with obstacles by Integer Mixed Linear Program (MILP). The findings of this research have shown that the MILP method can be used in the path planning problem in terms of finding a safe and shortest path. This has been combined with collision avoidance constraints to form a mixed integer linear program, which can be solved by a commercial software package.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Mohd Sadri, Mohd Pawzi
author_facet	Mohd Sadri, Mohd Pawzi
author_sort	Mohd Sadri, Mohd Pawzi
title	Path planning algorithm for a car like robot based on MILP method
title_short	Path planning algorithm for a car like robot based on MILP method
title_full	Path planning algorithm for a car like robot based on MILP method
title_fullStr	Path planning algorithm for a car like robot based on MILP method
title_full_unstemmed	Path planning algorithm for a car like robot based on MILP method
title_sort	path planning algorithm for a car like robot based on milp method
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2013
url	http://eprints.uthm.edu.my/1979/1/24p%20MOHD%20PAWZI%20MOHD%20SADRI.pdf http://eprints.uthm.edu.my/1979/2/MOHD%20PAWZI%20MOHD%20SADRI%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/1979/3/MOHD%20PAWZI%20MOHD%20SADRI%20WATERMARK.pdf
_version_	1747830891689803776

Path planning algorithm for a car like robot based on MILP method

Similar Items