Dissertation > Excellent graduate degree dissertation topics show

Research on Path Planing and Performance Mea-surement Architecture of Autonomous Land Robot

Author: ChenWuBin
Tutor: QianHui
School: Zhejiang University
Course: Applied Computer Technology
Keywords: Autonomous Land Robot Path Planning Measurement Architecture
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 92
Quote: 0
Read: Download Dissertation

Abstract


Autonomous Land Robot(ALR) is one of the active research topics in intelligent robot field. Among many supporting technologies to be worth studying in this topic, path plan-ning and performance measurement architecture are two most important aspects. Path plan-ning mainly concentrates on how to find a path from start state to goal state according to specific criterions in environment with static or dynamic obstacles. Efficiently finding path in continuous space is of great significance to improve navigation performance and be-comes a hot spot issue currently. Performance measurement architecture, as an essential component of ALR, provides interfaces for real-time information feedback and deferred data analysis in qualitative or quantitative form. Constructing both highly scalable and lower coupling measurement structure ensure smooth progress of research and develop-ment.For above-mentioned reasons, this thesis surveys technological development of ALR at first. The categories of path planning approaches and main targets of design principles for measurement architecture are also explored.Based on investigation, a novel path planning approach, Continuous A* is proposed. Since deriving from famous Hybrid A* approach, Continuous A* retains benefits all the same by using grids in the continuous space. Otherwise, in a self-adaptive manner, non-uniform granularity scheme is adopted to decrease the number of node involved in path calculating. The experimental results show that this approach not only is able to generate smooth path under the constraints of kinematics but also has an advantage over Hybrid A* algorithm’s in computing performance. The relationship with previous works is indicated as well.Moreover, a measurement architecture based on distributed multi-agent paradigm is put forward to test the navigation performance. This measurement architecture has a few principles such as real-time demand, minimum invasion, and extensibility. Both on-line data inspecting and off-line emulation are supported. On-line data inspecting realizes the basic framework for field test, while off-line emulation provide a method to test perfor-mance of decision-making modules such as data fusion and planning network instead of whole robot system. This measurement architecture can well meet the requirements for research and development of ALR according to experimental result.At the last part of this thesis, contributions of this work are summarized and further researches are also suggested.

Related Dissertations

  1. Improvement of Ant Colony Algorithmand Its Application in Robot Path Planning,TP242
  2. Measuring Extremum Analysis and Path Design of Coordinate Measuring Machine,TH721
  3. Design and Implementation of Hardware Platform for Path Planning System Based on Multi-DSP,TP368.12
  4. Research on Crowd Simulation Model Based on Multi-Agent,TP391.9
  5. Research on the Route Planning Method of Multi-Scale Road Networks in Embedded GIS,P208
  6. Research on NC Path-Planning of Multi-Spindle Drilling Machine and Auto-Programming System,TG527
  7. Reaserch on Assembling Emulation of the Locomotor Parts of Traction Robot Based on Virtual Environment,TG95
  8. Research on Path Planning Method of Ship Piping System for Virtual Assembly on Basis of Dynamic Simulation,U673.2
  9. Virtual the combatants behavior and path planning software research and development,E91
  10. Mechanical Design and Control for a Mobile Robot System,TP242.6
  11. Lightweight modular design and motion control arm study,TP241
  12. Research on Virtual Endoscopy Path Planning,TP391.41
  13. Underwater Robot Path Planning,TP242
  14. Research on Several Technologies of Home Service Mobile Robot in Intelligent Space,TP242.6
  15. Swarm Intelligence Algorithms and Their Application on Nagivation Plan for Underwater Vehicle,U675.7
  16. Research and Design of Car GPS Navigation Terminal Based on Cloud Computing,TP3
  17. Research on Simulation and Optimization Method for Tooth Movement in Virtual Orthodontics,TP391.9
  18. Development and Research of Algorithm on the NC Processing of Patterns on Sidewall Based on the Special Machine,TG659
  19. Analysis and Design on 6-DOF Manipulator Path Planning,TP242
  20. Research on the Vision-based Local Path Planning Method and Its Embedded Realization,TP242
  21. Research on Path Planning for Mobile Robot Based on the Biological Intelligence,TP242

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile