Dynamic planning for navigation routes in unknown environments
Self-driving robots have to fulfill many different operations, as the coordination of mechanics in the robot (e.g., traction of motors, camera movement, actuator arms), and the actual movement of the robots --that is, driving to the places they need to reach. This task is the outmust importance for...
- Autores:
-
Rodríguez Rodríguez, Laura Andrea
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2022
- Institución:
- Universidad de los Andes
- Repositorio:
- Séneca: repositorio Uniandes
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.uniandes.edu.co:1992/63707
- Acceso en línea:
- http://hdl.handle.net/1992/63707
- Palabra clave:
- Autonomous navigation
Global Planning
Dynamic Planning
A* algorithm
ABEO
Ingeniería
- Rights
- openAccess
- License
- Attribution-NonCommercial-NoDerivatives 4.0 Internacional
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Dynamic planning for navigation routes in unknown environments |
| title |
Dynamic planning for navigation routes in unknown environments |
| spellingShingle |
Dynamic planning for navigation routes in unknown environments Autonomous navigation Global Planning Dynamic Planning A* algorithm ABEO Ingeniería |
| title_short |
Dynamic planning for navigation routes in unknown environments |
| title_full |
Dynamic planning for navigation routes in unknown environments |
| title_fullStr |
Dynamic planning for navigation routes in unknown environments |
| title_full_unstemmed |
Dynamic planning for navigation routes in unknown environments |
| title_sort |
Dynamic planning for navigation routes in unknown environments |
| dc.creator.fl_str_mv |
Rodríguez Rodríguez, Laura Andrea |
| dc.contributor.advisor.none.fl_str_mv |
Cardozo Álvarez, Nicolás |
| dc.contributor.author.none.fl_str_mv |
Rodríguez Rodríguez, Laura Andrea |
| dc.subject.keyword.none.fl_str_mv |
Autonomous navigation Global Planning Dynamic Planning A* algorithm ABEO |
| topic |
Autonomous navigation Global Planning Dynamic Planning A* algorithm ABEO Ingeniería |
| dc.subject.themes.es_CO.fl_str_mv |
Ingeniería |
| description |
Self-driving robots have to fulfill many different operations, as the coordination of mechanics in the robot (e.g., traction of motors, camera movement, actuator arms), and the actual movement of the robots --that is, driving to the places they need to reach. This task is the outmust importance for exploration robots, which must drive around exploring an area in an unknown terrain. As the area to drive is unknown, planning a specific route and driving plan is challenging, given that the chosen plan could be inappropriate for the given terrain, or even may find a mission with varying environments, which may not be appropriate for a given plan. |
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2022 |
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2022-12-23 |
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2023-01-11T18:52:06Z |
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2023-01-11T18:52:06Z |
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Trabajo de grado - Pregrado |
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info:eu-repo/semantics/bachelorThesis |
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http://purl.org/coar/resource_type/c_7a1f |
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Text |
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http://hdl.handle.net/1992/63707 |
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instname:Universidad de los Andes |
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reponame:Repositorio Institucional Séneca |
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repourl:https://repositorio.uniandes.edu.co/ |
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http://hdl.handle.net/1992/63707 |
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instname:Universidad de los Andes reponame:Repositorio Institucional Séneca repourl:https://repositorio.uniandes.edu.co/ |
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eng |
| language |
eng |
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Society, The Mars: University rover challenge 2023 - requirements and guidelines. https://urc.marssociety.org/home/requirements-guidelines, November 2022. Accessed December 2022. Cho, Jang Ho, Dong Sung Pae, Myo Taeg Lim, and Tae Koo Kang: A real-time obstacle avoidance method for autonomous vehicles using an obstacle-dependent gaussian potential field. Journal of Advanced Transportation, pages 1-16, January 2018. School of Electrical Engineering, Korea University, Seoul, Republic of Korea Meng, Xiaoling and Xijing Zhu: Autonomous obstacle avoidance path planning for grasping manipulator based on elite smoothing ant colony algorithm. Symmetry, 14(9):1-20, September 2022. Woong-Gie Han, Seung-Min Baek, Tae Yong Kuc: Genetic algorithm based path planning and dynamic obstacle avoidance of mobile robots. In International Conference on Systems, Man, and Cybernetics. Computational Cybernetics and Simulation, volume 3, pages 2747-2751, 1997. Intelligent Control and Dynamic Simulation Lab. Ioan Susnea, Viorel Minzu, Grigore Vasiliu: Simple, real-time obstacle avoidance algorithm for mobile robots. In International Conference on Computational intelligence, man-machine systems and cybernetics. World Scientific, Engineering Academy e Society, WESEAS¿09, pages 24-29, 2009. José Luis Susa Rincon, Diego Ramos: (abeo) - algoritmo bioinspirado de evasión de obstáculos. Tecnura, 13(25):36-47, January 2009. Sommer, Pascal: A gentle introduction to the convex hull problem. https://medium.com/@pascal.sommer.ch/a-gentle-introduction-to-the-convex-hull-problem-62dfcabee90c, December 2016. Accessed December 2022. Garage, Willow: Ros robot operatin system. https://www.ros.org/, December 2007. Stanford Artificial Intelligence Laboratory Open Robotics. |
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Attribution-NonCommercial-NoDerivatives 4.0 Internacional |
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https://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdf |
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Universidad de los Andes |
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Ingeniería de Sistemas y Computación |
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Facultad de Ingeniería |
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Departamento de Ingeniería Sistemas y Computación |
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Attribution-NonCommercial-NoDerivatives 4.0 Internacionalhttps://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdfinfo:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Cardozo Álvarez, Nicolásvirtual::16427-1Rodríguez Rodríguez, Laura Andrea05e7d819-4dd2-4b1a-8005-29df767ba90a6002023-01-11T18:52:06Z2023-01-11T18:52:06Z2022-12-23http://hdl.handle.net/1992/63707instname:Universidad de los Andesreponame:Repositorio Institucional Sénecarepourl:https://repositorio.uniandes.edu.co/Self-driving robots have to fulfill many different operations, as the coordination of mechanics in the robot (e.g., traction of motors, camera movement, actuator arms), and the actual movement of the robots --that is, driving to the places they need to reach. This task is the outmust importance for exploration robots, which must drive around exploring an area in an unknown terrain. As the area to drive is unknown, planning a specific route and driving plan is challenging, given that the chosen plan could be inappropriate for the given terrain, or even may find a mission with varying environments, which may not be appropriate for a given plan.Ingeniero de Sistemas y ComputaciónPregrado14 páginasapplication/pdfengUniversidad de los AndesIngeniería de Sistemas y ComputaciónFacultad de IngenieríaDepartamento de Ingeniería Sistemas y ComputaciónDynamic planning for navigation routes in unknown environmentsTrabajo de grado - Pregradoinfo:eu-repo/semantics/bachelorThesisinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_7a1fTexthttp://purl.org/redcol/resource_type/TPAutonomous navigationGlobal PlanningDynamic PlanningA* algorithmABEOIngenieríaSociety, The Mars: University rover challenge 2023 - requirements and guidelines. https://urc.marssociety.org/home/requirements-guidelines, November 2022. Accessed December 2022.Cho, Jang Ho, Dong Sung Pae, Myo Taeg Lim, and Tae Koo Kang: A real-time obstacle avoidance method for autonomous vehicles using an obstacle-dependent gaussian potential field. Journal of Advanced Transportation, pages 1-16, January 2018. School of Electrical Engineering, Korea University, Seoul, Republic of KoreaMeng, Xiaoling and Xijing Zhu: Autonomous obstacle avoidance path planning for grasping manipulator based on elite smoothing ant colony algorithm. Symmetry, 14(9):1-20, September 2022.Woong-Gie Han, Seung-Min Baek, Tae Yong Kuc: Genetic algorithm based path planning and dynamic obstacle avoidance of mobile robots. In International Conference on Systems, Man, and Cybernetics. Computational Cybernetics and Simulation, volume 3, pages 2747-2751, 1997. Intelligent Control and Dynamic Simulation Lab.Ioan Susnea, Viorel Minzu, Grigore Vasiliu: Simple, real-time obstacle avoidance algorithm for mobile robots. In International Conference on Computational intelligence, man-machine systems and cybernetics. World Scientific, Engineering Academy e Society, WESEAS¿09, pages 24-29, 2009.José Luis Susa Rincon, Diego Ramos: (abeo) - algoritmo bioinspirado de evasión de obstáculos. Tecnura, 13(25):36-47, January 2009.Sommer, Pascal: A gentle introduction to the convex hull problem. https://medium.com/@pascal.sommer.ch/a-gentle-introduction-to-the-convex-hull-problem-62dfcabee90c, December 2016. Accessed December 2022.Garage, Willow: Ros robot operatin system. https://www.ros.org/, December 2007. 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