Portland State University. Department of Electrical Engineering
Date of Award
Master of Science (M.S.) in Electrical Engineering
1 online resource (67 p.)
Robotics -- Computer programs, Algorithms -- Data processing, Graph theory -- Data processing
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.
Kim, Hyun Suk, "Two dimensional and three dimensional path planning in robotics" (1988). Dissertations and Theses. Paper 3814.