First Advisor

Faris Badi'i

Date of Publication

1988

Document Type

Thesis

Degree Name

Master of Science (M.S.) in Electrical Engineering

Department

Electrical Engineering

Language

English

Subjects

Robotics -- Computer programs, Algorithms -- Data processing, Graph theory -- Data processing

DOI

10.15760/etd.5698

Physical Description

1 online resource (67 p.)

Abstract

A methodology for 2D and 3D collision free path planning algorithm in a structured environment is presented. The isolated free convex areas are represented as a nodes in a graph, and a graph traversal strategy that dynamically allocates costs to graph path is used. Modification of the algorithm for small computational time and optimality is discussed. The 3D path planning is done in the three orthogonal two-dimensional projections of a 3D environment. Collision checking to increase the optimality for 3D paths is done in each of the three orthogonal two-dimensional subspaces.

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Comments

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Persistent Identifier

http://archives.pdx.edu/ds/psu/21287

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