Masters Theses

Abstract

"A car-like indoor mobile robot is a kinematically constrained robot that can be modeled as a 2D object translating and rotating in the horizontal plane among well- defined obstacles. The kinematic constraints impose that the linear velocity of the robot is along its main axis (no sideways motion is possible) and restrict the range of admissible values for the steering angle. The goal of this study is to combine neural network techniques and motion planning algorithms to create a new methodology for coordinating the motion of multiple car-like robots avoiding collision with polygonal obstacles in a work environment. An incremental technique is used to develop this methodology. First, a strategy for planning the path of a point robot moving in the presence of obstacles is constructed. Second, this strategy is adapted to path planning for a polygonal robot. Third, holonomic and non-holonomic constraints are imposed on the robot and the method is further refined. Finally, a plan for the coordinated motion of multiple car-like robots is devised through use of the concept of coordination space"--Abstract, page iii.

Advisor(s)

Krishnamurthy, K.

Committee Member(s)

Liou, Frank W.
Dagli, Cihan H., 1949-

Department(s)

Mechanical and Aerospace Engineering

Degree Name

M.S. in Mechanical Engineering

Publisher

University of Missouri--Rolla

Publication Date

Spring 2000

Pagination

vii, 56 pages

Note about bibliography

Includes bibliographical references (pages 54-55).

Rights

© 2000 Prasanna Venkatesan Sadagopan, All rights reserved.

Document Type

Thesis - Open Access

File Type

text

Language

English

Thesis Number

T 7743

Print OCLC #

44645332

Electronic OCLC #

1105930004

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