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Planification de chemin pour un robo...

Agudelo, Alejandro.

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Planification de chemin pour un robot mobile dans un environnement partiellement connu.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Planification de chemin pour un robot mobile dans un environnement partiellement connu./
作者:	Agudelo, Alejandro.
面頁冊數:	76 p.
附註:	Source: Masters Abstracts International, Volume: 46-05, page: 2847.
Contained By:	Masters Abstracts International46-05.
標題:	Artificial Intelligence. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR36897
ISBN:	9780494368978

Planification de chemin pour un robot mobile dans un environnement partiellement connu.
Agudelo, Alejandro.

Planification de chemin pour un robot mobile dans un environnement partiellement connu. - 76 p.

Source: Masters Abstracts International, Volume: 46-05, page: 2847.

Thesis (M.Sc.A.)--Ecole Polytechnique, Montreal (Canada), 2008.

Different cases are studied in order to establish the performance of different approaches.

ISBN: 9780494368978Subjects--Topical Terms:

769149
Artificial Intelligence.

Planification de chemin pour un robot mobile dans un environnement partiellement connu.
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502 $a Thesis (M.Sc.A.)--Ecole Polytechnique, Montreal (Canada), 2008.
520 $a Different cases are studied in order to establish the performance of different approaches.
520 $a This project studies the problem of motion planning for mobile robots. The aim is to define an obstacle-free path for a mobile robot which will consider its geometry with the goal to give it a greater autonomy in the planning of movements on long distances in a partially known environment. Starting from a first base path defined by the original long distance planner of the robot and a polygonal representation of the environment based on a 3D irregular triangular mesh, created from the information given by a three-dimensional laser scanner placed on the robot, a new obstacle free path is generated considering the robot geometry and eliminating as much as possible the saw tooth present in the base path. An algorithm based on a cost function makes possible to define this path, minimizing the collision risk, the distance to be traveled and the strong changes of orientation of the robot.
590 $a School code: 1105.
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650 4 $a Engineering, Electronics and Electrical. $3 626636
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