Multi-layer approach to motion planning in obstacle rich environment

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Title: Multi-layer approach to motion planning in obstacle rich environment
Author: Kim, Sung Hyun
Abstract: A widespread use of robotic technology in civilian and military applications has generated a need for advanced motion planning algorithms that are real -time implementable . These algorithms are required to navigate autonomous vehicles through obstacle -rich environments . This research has led to the development of the multilayer trajectory generation approach . It is built on the principle of separation of concerns , which partitions a given problem into multiple independent layers , and addresses complexity that is inherent at each level . We partition the motion planning algorithm into a roadmap layer and an optimal control layer . At the roadmap layer , elements of computational geometry are used to process the obstacle rich environment and generate feasible sets . These are used by the optimal control layer to generate trajectories while satisfying dynamics of the vehicle . The roadmap layer ignores the dynamics of the system , and the optimal control layer ignores the complexity of the environment , thus achieving a separation of concern . This decomposition enables computationally tractable methods to be developed for addressing motion planning in complex environments . The approach is applied in known and unknown environments . The methodology developed in this thesis has been successfully applied to a 6 DOF planar robotic testbed . Simulation results suggest that the planner can generate trajectories that navigate through obstacles while satisfying dynamical constraints .
URI: http : / /hdl .handle .net /1969 .1 /ETD -TAMU -2621
Date: 2009-05-15


Multi-layer approach to motion planning in obstacle rich environment. Available electronically from http : / /hdl .handle .net /1969 .1 /ETD -TAMU -2621 .

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