مسير يابي ربات هاي سيار چند ضلعي نا محدبL- شكل در حالت غير بهنگام

چكيده انگليسي :

96 Offline Path Planning of L shaped Non convex Polygonal Mobile Robots Sina Samadi s samadi@in iut ac ir Date of Submission 04 19 2011 Department of Industrial and Systems Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language FarsiSupervisors Jamshid Parvizian japa@cc iut ac ir Ellips Masehian Masehian@modares ac irAbstract Nowadays robots are playing an important role in various aspects of science and industry Almost allmanufacturing companies have applied robots in their daily routines In this course mobile robots stand in aspecial place Autonomous Guided Vehicles for short AGV as an example of mobile robots have beenwidely utilized in industry Increasing the application has discussed the navigation and path planning ofrobots seriously Knowing this fact researchers from the early stages have considered motion planning ofmobile robots and developed various solutions for this sort of problems These methods fall into two generalgroups offline and online path planning In this research an offline method for navigating robots is presentedin general and then it is applied on a non convex L shaped mobile robot To do so at first several paths areconstructed by use of different approaches such as Voronoi Diagram Visibility Graph Path Pruning andRemove Redundancy where the first two ones are well known and well developed methods Afterward threedifferent criteria calculation time length and clearance are introduced and the computed paths are evaluatedand ranked up on these criteria by use of TOPSIS method Having these paths in hand a corridor fornavigating the robot is built The corridor is union of circles with maximum clearance in all points of pathobtained from Voronoi diagram By corridor we mean an explicit definition that is the corridor isrecognized by so many points located on its circumference The main advantage of the corridor is providing asafe and collision free platform for navigating all types of robots namely our desired robot which iscomplicated from geometrical perspective Next step will be using the corridor and determining regions inwhich the robot cannot traverse without any special collision and or rotation To this aim a novel techniquecalled Inward Minkowski IM is proposed that is based on Minkowski difference Since the InwardMinkowski cannot consider the rotation and robot has to keep its initial orientation until it reaches thedestination we try to build IM in different orientations Each IM is called a Slice In what follows theobtained Slices are put on each other along Z axis Obviously there is a tradeoff between the number ofslices and the calculation time As a result a 3D figure will be generated which is a great help in findingpath s for the robot There would be three types of movements 1 vertical jumping from a slice to upper orlower slices which equals with rotation 2 moving within a specified slice which is the same as translationand 3 a combination of two previous movements Finally an algorithm for navigating the robot based on thegeometry of corridor and robot is proposed In this part the orientation of the robot is computed in each pointof the path The accuracy and flexibility of the proposed algorithm is analyzed by solving problems invarious work spaces and for robots with different dimensions Keywords Mobile Robots Path Planning Non convex Robot Guiding Corridor InwardMinkowski Slices of Minkowski

صمدي، سينا

مسير يابي ربات هاي سيار چند ضلعي نا محدبL- شكل در حالت غير بهنگام

ربات هاي متحرك , كوريدر هدايت ربات , مينكفسكي داخلي , پوسته هاي مينكفسكي