Trajectory Planning for Non-Holonomic Mobile Robots with Timed Elastic Bands

Trajectory planning has recently gained importance in the mobile robot community as a motion planning strategy to solve the problem of guiding the robot from a initial location to a target location in an environment with static or dynamic obstacles. This thesis is concerned with the timed elastic ba...

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Autor Principal: Navarro Pérez, Álvaro Andrés
Formato: Trabajo de grado (Bachelor Thesis)
Lenguaje:Desconocido (Unknown)
Publicado: 2015
Materias:
Acceso en línea:http://babel.banrepcultural.org/cdm/ref/collection/p17054coll23/id/997
id ir-p17054coll23-997
recordtype dspace
spelling ir-p17054coll23-9972020-09-29 Trajectory Planning for Non-Holonomic Mobile Robots with Timed Elastic Bands Navarro Pérez, Álvaro Andrés Trajectory planning has recently gained importance in the mobile robot community as a motion planning strategy to solve the problem of guiding the robot from a initial location to a target location in an environment with static or dynamic obstacles. This thesis is concerned with the timed elastic band approach and model predictive control to find the optimal trajectories subject to a differential constraints of a non-holonomic platform. The objective of this thesis is to augment the timed elastic band approach to general kinematics such as the mobile robots with differential drive, the car-like systems and the truck and trailer systems in specific environments. Several cost functions are evaluated to task of obstacle avoidance. For each kinematic, the metrics of traveling time starting from a fixed initial position to a goal location as well as the traversed distance between those states are evaluated. This thesis concludes with a comparative analysis of timed elastic bands with the robot motion planning approach RRT (Rapidly-exploration random tree). Time optimal control; Cost functions; Obstacle constrains; Cinematic model Tecnología; Tecnología / Ingeniería y operaciones afines; Tecnología / Ingeniería y operaciones afines / Otras ramas de la ingeniería 2015 PDF Tesis ENG - Inglés Dortmund (Alemania) Colfuturo © Derechos reservados de autor http://babel.banrepcultural.org/cdm/ref/collection/p17054coll23/id/997
institution Biblioteca Virtual Banco de la República - Colecciones digitales
collection Custom
language Desconocido (Unknown)
topic Time optimal control; Cost functions; Obstacle constrains; Cinematic model
Tecnología; Tecnología / Ingeniería y operaciones afines; Tecnología / Ingeniería y operaciones afines / Otras ramas de la ingeniería
spellingShingle Time optimal control; Cost functions; Obstacle constrains; Cinematic model
Tecnología; Tecnología / Ingeniería y operaciones afines; Tecnología / Ingeniería y operaciones afines / Otras ramas de la ingeniería
Navarro Pérez, Álvaro Andrés
Trajectory Planning for Non-Holonomic Mobile Robots with Timed Elastic Bands
description Trajectory planning has recently gained importance in the mobile robot community as a motion planning strategy to solve the problem of guiding the robot from a initial location to a target location in an environment with static or dynamic obstacles. This thesis is concerned with the timed elastic band approach and model predictive control to find the optimal trajectories subject to a differential constraints of a non-holonomic platform. The objective of this thesis is to augment the timed elastic band approach to general kinematics such as the mobile robots with differential drive, the car-like systems and the truck and trailer systems in specific environments. Several cost functions are evaluated to task of obstacle avoidance. For each kinematic, the metrics of traveling time starting from a fixed initial position to a goal location as well as the traversed distance between those states are evaluated. This thesis concludes with a comparative analysis of timed elastic bands with the robot motion planning approach RRT (Rapidly-exploration random tree).
format Trabajo de grado (Bachelor Thesis)
author Navarro Pérez, Álvaro Andrés
author_facet Navarro Pérez, Álvaro Andrés
author_sort Navarro Pérez, Álvaro Andrés
title Trajectory Planning for Non-Holonomic Mobile Robots with Timed Elastic Bands
title_short Trajectory Planning for Non-Holonomic Mobile Robots with Timed Elastic Bands
title_full Trajectory Planning for Non-Holonomic Mobile Robots with Timed Elastic Bands
title_fullStr Trajectory Planning for Non-Holonomic Mobile Robots with Timed Elastic Bands
title_full_unstemmed Trajectory Planning for Non-Holonomic Mobile Robots with Timed Elastic Bands
title_sort trajectory planning for non-holonomic mobile robots with timed elastic bands
publishDate 2015
url http://babel.banrepcultural.org/cdm/ref/collection/p17054coll23/id/997
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score 11,828437