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Probabilistic roadmap based path planning for mobile robots

Jamin, Nurul Fadzlina (2014) Probabilistic roadmap based path planning for mobile robots. Masters thesis, Universiti Tun Hussein Onn Malaysia.


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Probabilistic Road Map (PRM) is one of the well-known or common solution methods used to solve the motion planning problem for mobile robot where the initial point and target point (goal) are chosen or fixed by user on the robot configuration workspace. In this study, the configuration space defined by static random obstacles. Furthermore, the PRM method has been used to find a feasible path between the start and the goal of the mobile robot. The PRM planner consists of two phases: a construction and a query phases. In the construction phase, a roadmap (graph) is built, approximating the motions that can be made in the environment. First, a random configuration is created. Then, it is connected to some neighbors, typically either the nearest neighbors or all neighbors less than some predetermined distance. Configurations and connections are then added to the graph until the roadmap is dense enough. In the query phase, the start and goal configurations are connected to the graph, and a path is obtained by a Dijkstra's shortest path query. In order to achieve a shorter path, the path pruning was applied in the system. The system was analyzed and simulated using MATLAB software.

Item Type: Thesis (Masters)
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Depositing User: Normajihan Abd. Rahman
Date Deposited: 01 Jul 2014 02:12
Last Modified: 01 Jul 2014 02:12
URI: http://eprints.uthm.edu.my/id/eprint/5517
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