New motion planning and real-time localization methods using proximity for autonomous mobile robots
By:  Mahmoud A. Wahdan
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1996
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 225
Description: One of the most difficult theoretical problems in robotics--motion planning for rigid body robots-- must be solved      before a robot can perform real- world tasks such as mine searching and processing. This dissertation proposes a      new motion planning algorithm for an autonomous robot, as well as the method and results of implementing this      algorithm on a real vehicle. This dissertation addresses the problem of safely navigating an autonomous vehicle      through free space of a two dimensional, world model with polygonal obstacles from a start configuration (position      orientation) to a goal configuration using smooth motion under the structure of a layered motion planning approach.      The approach proposes several new concepts, including v-edges and directed v-edges, and divides the motion      planning problem of a rigid body vehicle into two subproblems: (1) finding a global path using Voronoi diagrams      and for a given start and goal configurations planning an optimal global path; the planned path is a sequence of      directed v-edges, (2) planning a local motion from the start configuration, using the aforementioned global path.      The problem of how to design a safe and smooth path, is effectively solved by the steering function method and      proximity. Another problem addressed here is how to make a smooth transition when the vehicle gets closer to an      intersection of two distinct boundaries. This dissertation also presents a robust algorithm for the vehicle to      continually eliminate its positional uncertainty while executing missions. This functionality is called self-localization      which is an essential component of model-based navigation for indoor applications. This algorithm is based on the      two-dimensional transformation group. Through this method, the robot can minimize its positional uncertainty,      make safe and reliable motions, and perform useful tasks in a partially known world.
Notes: Dissertation supervisor(s): Yutaka Kanayama.

"September 1996."

Dissertation (Ph.D. in Computer Science) Naval Postgraduate School, September 1996.

Includes bibliographical references (p. 217-221).

Approved for public release; distribution unlimited.

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Egyptian Army author.

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