Path Planing of Mobile Robot

A Report on PATH PLANNING OF MOBILE ROBOT

By

|Names of the students |ID Nos. |Disciplines |
|Rohit Ginoria |2006A4PS228P |B.E. (Hons.)Mechanical Engineering |

Prepared in partial fulfilment of Lab. Oriented Project
Under the guidance of Dr. B.K.Rout

Birla Institute of Technology and Science, Pilani (October, 2008)

Acknowledgments

Several people have been instrumental in allowing this project to be completed. I am grateful to Dr. B.K.Rout, for giving me opportunity to do this project and for guiding me throughout the project. God, the Almighty you are always a wonderful inspiration to me.
ABSTRACT
Abstract – Obstacle avoidance is one of the main concerns of every robot’s trajectory. Planning path algorithm is the important step to avoid obstacle during the motion of autonomous robot. Many algorithms have been implemented and are being worked upon for further improvement. This report deals with some of the important algorithms used in the robot industry.
Key Words – Path-planning, robot’s trajectory, obstacle avoidance, TSP, Genetic Algorithm, Vector Potential Field, Visibility Graph

List of tables and Figures
Symbols and abbreviation used

Conclusion
Literature review
References and bibliography

Table of contents

Acknowledgement
Abstract
List of Illustration 1. Introduction 2. Path Planning 1. Configuration Space 2. Road map approach 1. Visibility Graph 2. Voronoi Graph 3. Cell decomposition approach 4. Potential field approach 3. Virtual Force Field 1. The Basic VFF 2. Low Pass Filter for Steering Control