Development and evaluation of modified virtual semi circle path planning of mobile guard unmanned ground vehicle truck for surveillance (IR)

This study aims to develop and evaluate path planning algorithm for an Unmanned Ground Vehicle (UGV). UGV in this thesis is known as Mobile Guard UGV-Truck for Surveillance (MG-TruckS). MG-TruckS is used to enhance the efficiency of the security in monitoring the residential areas. MG-truckS is able...

Full description

Saved in:

Bibliographic Details
Main Author:	Amira Shahirah Kamsah
Format:	thesis
Language:	eng
Published:	2018
Subjects:	QA Mathematics
Online Access:	https://ir.upsi.edu.my/detailsg.php?det=3813
Tags:	Add Tag No Tags, Be the first to tag this record!

id	oai:ir.upsi.edu.my:3813
record_format	uketd_dc
spelling	oai:ir.upsi.edu.my:38132020-02-27 Development and evaluation of modified virtual semi circle path planning of mobile guard unmanned ground vehicle truck for surveillance (IR) 2018 Amira Shahirah Kamsah QA Mathematics This study aims to develop and evaluate path planning algorithm for an Unmanned Ground Vehicle (UGV). UGV in this thesis is known as Mobile Guard UGV-Truck for Surveillance (MG-TruckS). MG-TruckS is used to enhance the efficiency of the security in monitoring the residential areas. MG-truckS is able to help human in facing a high risk situations such as burglary, murder, theft and robbery. Modified Virtual Semi Circle (MVSC) algorithm is an algorithm that has been proposed to navigate the MG-TruckS. MVSC approach is implemented in this study. MVSC is divided into two phases which are obstacle detection and obstacle avoidance to compute an optimal path. MG-TruckS is equipped with five ultrasonic range finder sensors with an ideal arrangement in order for locating a minimum number of sensors. There is a blind zone in order to perform a wide forward looking motion. There are three influence zone with three conditions that are formed in each obstacle detection. The study succeeded in producing lemmas and theorem that support the algorithm proposed and has been verified through simulation by MATLAB. In conclusion, this study is managed to build, evaluate and modified Virtual Semi Circle (VSC) with new approach based on VSC to navigate the MG-TruckS. The implication is the simplest path planning proposed helps to reduce the workload by an UGV to compute it path planning. 2018 thesis https://ir.upsi.edu.my/detailsg.php?det=3813 https://ir.upsi.edu.my/detailsg.php?det=3813 text eng closedAccess Masters Universiti Pendidikan Sultan Idris Fakulti Sains dan Matematik N/A
institution	Universiti Pendidikan Sultan Idris
collection	UPSI Digital Repository
language	eng
topic	QA Mathematics
spellingShingle	QA Mathematics Amira Shahirah Kamsah Development and evaluation of modified virtual semi circle path planning of mobile guard unmanned ground vehicle truck for surveillance (IR)
description	This study aims to develop and evaluate path planning algorithm for an Unmanned Ground Vehicle (UGV). UGV in this thesis is known as Mobile Guard UGV-Truck for Surveillance (MG-TruckS). MG-TruckS is used to enhance the efficiency of the security in monitoring the residential areas. MG-truckS is able to help human in facing a high risk situations such as burglary, murder, theft and robbery. Modified Virtual Semi Circle (MVSC) algorithm is an algorithm that has been proposed to navigate the MG-TruckS. MVSC approach is implemented in this study. MVSC is divided into two phases which are obstacle detection and obstacle avoidance to compute an optimal path. MG-TruckS is equipped with five ultrasonic range finder sensors with an ideal arrangement in order for locating a minimum number of sensors. There is a blind zone in order to perform a wide forward looking motion. There are three influence zone with three conditions that are formed in each obstacle detection. The study succeeded in producing lemmas and theorem that support the algorithm proposed and has been verified through simulation by MATLAB. In conclusion, this study is managed to build, evaluate and modified Virtual Semi Circle (VSC) with new approach based on VSC to navigate the MG-TruckS. The implication is the simplest path planning proposed helps to reduce the workload by an UGV to compute it path planning.
format	thesis
qualification_name
qualification_level	Master's degree
author	Amira Shahirah Kamsah
author_facet	Amira Shahirah Kamsah
author_sort	Amira Shahirah Kamsah
title	Development and evaluation of modified virtual semi circle path planning of mobile guard unmanned ground vehicle truck for surveillance (IR)
title_short	Development and evaluation of modified virtual semi circle path planning of mobile guard unmanned ground vehicle truck for surveillance (IR)
title_full	Development and evaluation of modified virtual semi circle path planning of mobile guard unmanned ground vehicle truck for surveillance (IR)
title_fullStr	Development and evaluation of modified virtual semi circle path planning of mobile guard unmanned ground vehicle truck for surveillance (IR)
title_full_unstemmed	Development and evaluation of modified virtual semi circle path planning of mobile guard unmanned ground vehicle truck for surveillance (IR)
title_sort	development and evaluation of modified virtual semi circle path planning of mobile guard unmanned ground vehicle truck for surveillance (ir)
granting_institution	Universiti Pendidikan Sultan Idris
granting_department	Fakulti Sains dan Matematik
publishDate	2018
url	https://ir.upsi.edu.my/detailsg.php?det=3813
_version_	1747833103351545856

Development and evaluation of modified virtual semi circle path planning of mobile guard unmanned ground vehicle truck for surveillance (IR)

Similar Items