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Autonomous robot path planning
Thesis (MSc (Mathematical Sciences. Computer SCience))--University of Stellenbosch, 2009.
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| Other Authors: | |
| Format: | Thesis |
| Language: | English |
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Stellenbosch : University of Stellenbosch
2009
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| _version_ | 1867613748763557888 |
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| access_status_str | Open Access |
| author | Crous, C. B. |
| author2 | Van der Merwe, A. B. |
| author_browse | Crous, C. B. Van der Merwe, A. B. |
| author_facet | Van der Merwe, A. B. Crous, C. B. |
| author_sort | Crous, C. B. |
| collection | Thesis |
| dc_rights_str_mv | University of Stellenbosch |
| description | Thesis (MSc (Mathematical Sciences. Computer SCience))--University of Stellenbosch, 2009. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/2519 |
| institution | Stellenbosch University (South Africa) |
| language | English |
| last_indexed | 2026-06-10T12:41:04.390Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2009 |
| publishDateRange | 2009 |
| publishDateSort | 2009 |
| publisher | Stellenbosch : University of Stellenbosch |
| publisherStr | Stellenbosch : University of Stellenbosch |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/2519 Autonomous robot path planning Crous, C. B. Van der Merwe, A. B. University of Stellenbosch. Faculty of Science. Dept. of Mathematical Sciences. Institute for Applied Computer Science. Path planning Theses -- Computer science Dissertations -- Computer science Autonomous robots Algorithms Robotics Thesis (MSc (Mathematical Sciences. Computer SCience))--University of Stellenbosch, 2009. In this thesis we consider the dynamic path planning problem for robotics. The dynamic path planning problem, in short, is the task of determining an optimal path, in terms of minimising a given cost function, from one location to another within a known environment of moving obstacles. Our goal is to investigate a number of well-known path planning algorithms, to determine for which circumstances a particular algorithm is best suited, and to propose changes to existing algorithms to make them perform better in dynamic environments. At this stage no thorough comparison of theoretical and actual running times of path planning algorithms exist. Our main goal is to address this shortcoming by comparing some of the wellknown path planning algorithms and our own improvements to these path planning algorithms in a simulation environment. We show that the visibility graph representation of the environment combined with the A* algorithm provides very good results for both path length and computational cost, for a relatively small number of obstacles. As for a grid representation of the environment, we show that the A* algorithm produces good paths in terms of length and the amount of rotation and it requires less computation than dynamic algorithms such as D* and D* Lite. 2009-02-12T17:36:30Z 2010-06-01T08:51:05Z 2009-02-12T17:36:30Z 2010-06-01T08:51:05Z 2009-03 Thesis http://hdl.handle.net/10019.1/2519 http://hdl.handle.net/10019.1/2519 en University of Stellenbosch application/pdf Stellenbosch : University of Stellenbosch |
| spellingShingle | Path planning Theses -- Computer science Dissertations -- Computer science Autonomous robots Algorithms Robotics Crous, C. B. Autonomous robot path planning |
| title | Autonomous robot path planning |
| title_full | Autonomous robot path planning |
| title_fullStr | Autonomous robot path planning |
| title_full_unstemmed | Autonomous robot path planning |
| title_short | Autonomous robot path planning |
| title_sort | autonomous robot path planning |
| topic | Path planning Theses -- Computer science Dissertations -- Computer science Autonomous robots Algorithms Robotics |
| url | http://hdl.handle.net/10019.1/2519 http://hdl.handle.net/10019.1/2519 |
| work_keys_str_mv | AT crouscb autonomousrobotpathplanning |