<div class="description">
<dl><dd>Dissertation supervisor(s): Yutaka Kanayama</dd>
<dd>"September 1996."</dd>
<dd>Dissertation (Ph.D. in Computer Science) Naval Postgraduate School, September 1996</dd>
<dd>Includes bibliographical references (p. 217-221)</dd>
<dd>One of the most difficult theoretical problems in robotics--motion planning for rigid body robots-- must be solved before a robot can perform real- world tasks such as mine searching and processing. This dissertation proposes a new motion planning algorithm for an autonomous robot, as well as the method and results of implementing this algorithm on a real vehicle. This dissertation addresses the problem of safely navigating an autonomous vehicle through free space of a two dimensional, world model with polygonal obstacles from a start configuration (position orientation) to a goal configuration using smooth motion under the structure of a layered motion planning approach. The approach proposes several new concepts, including v-edges and directed v-edges, and divides the motion planning problem of a rigid body vehicle into two subproblems: (1) finding a global path using Voronoi diagrams and for a given start and goal configurations planning an optimal global path; the planned path is a sequence of directed v-edges, (2) planning a local motion from the start configuration, using the aforementioned global path. The problem of how to design a safe and smooth path, is effectively solved by the steering function method and proximity. Another problem addressed here is how to make a smooth transition when the vehicle gets closer to an intersection of two distinct boundaries. This dissertation also presents a robust algorithm for the vehicle to continually eliminate its positional uncertainty while executing missions. This functionality is called self-localization which is an essential component of model-based navigation for indoor applications. This algorithm is based on the two-dimensional transformation group. Through this method, the robot can minimize its positional uncertainty, make safe and reliable motions, and perform useful tasks in a partially known world</dd>
<dd>Mode of access: World Wide Web</dd>
<dd>System requirements: Adobe Acrobat Reader</dd>
<dd>Egyptian Army author</dd>
<dd>dk/dk cc:9996 3/11/97</dd></dl><br>Subjects:</div>
<div class="fn value">
Wahdan, Mahmoud A.</div>
Internet Archive identifier