Robot path planning in the presence of stationary and moving obstacles /
| Main Author: | |
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| Other Authors: | , , |
| Format: | Thesis Book |
| Language: | English |
| Published: |
1987.
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| Subjects: | |
| Online Access: | Link to ProQuest copy Link to OAKTrust copy ProQuest, Abstract |
MARC
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| 099 | |a 1987 |a Disser |a tation |a W287 | ||
| 100 | 1 | |a Warren, Charles Willingham, |d 1959- | |
| 245 | 1 | 0 | |a Robot path planning in the presence of stationary and moving obstacles / |
| 264 | 1 | |c 1987. | |
| 300 | |a ix, 107 leaves : |b illustrations ; |c 29 cm | ||
| 336 | |a text |b txt |2 rdacontent | ||
| 337 | |a unmediated |b n |2 rdamedia | ||
| 338 | |a volume |b nc |2 rdacarrier | ||
| 500 | |a "Major subject: Mechanical Engineering." | ||
| 500 | |a Typescript (photocopy). | ||
| 500 | |a Vita. | ||
| 502 | |b Ph. D. |c Texas A & M University |d 1987 | ||
| 504 | |a Includes bibliographical references (leaves 103-106). | ||
| 520 | 3 | |a Planning the path of a manipulator through an obstacle strewn workspace is a problem that must be solved if completely autonomous robotic manipulators are to safely operate. Many solutions to the problem have been posed but all have limitations of one form or another. Also, comparatively little has been done to solve the problem when one or more of the obstacles is allowed to move. Presented in this dissertation is an algorithm that uses artificial potential fields to aid in path planning process. The algorithm was used to solve for paths around stationary obstacles in two and three dimensions. The algorithm is extended to solve for paths in the presence of moving obstacles. One method assumes that the trajectory of the obstacle is known in advance of the path planning. A second method is introduced that plans the path of the robot when the trajectory of the obstacles are not known in advance. | |
| 650 | 0 | |a Manipulators (Mechanism) | |
| 650 | 0 | |a Robotics. | |
| 650 | 0 | |a Robots |x Motion. | |
| 650 | 4 | |a Major mechanical engineering. | |
| 655 | 7 | |a Academic theses |2 lcgft | |
| 700 | 1 | |a Driels, Morris R., |e degree committee member. | |
| 700 | 1 | |a Haisler, Walter E., |e degree committee member. | |
| 700 | 1 | |a McDermott, Make, |e degree committee member. | |
| 700 | 1 | |a Mooring, Benjamin W., |e degree supervisor. | |
| 710 | 2 | |a Texas A & M University, |e degree granting institution. | |
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