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Title of Thesis

An Algorithm for the Solution of Trajectory Planning for Non-Holonomic Mobile Robot in Presence of Obstacles

Author(s)

Muhammad Arshad

Institute/University/Department Details
Department of Electrical Engineering, Faculty of Electrical & Electronics Engineering / University of Engineering & Technology, Taxila
Session
2010
Subject
Electrical Engineering
Number of Pages
184
Keywords (Extracted from title, table of contents and abstract of thesis)
Solution, Mobile, Obstacles, Algorithm, Trajectory, Holonomic, Presence, Solution, Planning, Robot

Abstract
Not Available

Download Full Thesis
944 KB
S. No. Chapter Title of the Chapters Page Size (KB)
1 0 CONTENTS

 

x
38 KB
2

1

INTRODUCTION

1.1 Problem Statement
1.2 Scope Of The Study
1.3 Objectives
1.4 Thesis Organization

1
52 KB
3 2 PLATFORM ARCHITECTURE

2.1 Introduction
2.2 Platform Configuration
2.3 Related Work
2.4 Holonomic Mobile Robots
2.5 Nonholonomic Mobile Robots
2.6 Mobile Robots Kinematics
2.7 The Developed Forward Kinematics Model
2.8 Developed Inverse Kinematics Model
2.9 Dynamics Modeling
2.10 Summary

8
178 KB
4 3 TRAJECTORY GENERATION

3.1 Introduction
3.2 Path Planning
3.3 Configuration Space
3.4 Trajectory Planner
3.5 Steering Methods.
3.6 Steering Controls.
3.7 The Developed Path Following Controller (pfc)
3.8 Summary

42
 182 KB
5 4 OBSTACLE AVOIDANCE

4.1 Introduction
4.2 Nonholonomic Constrained Mobile Robot
4.3 Obstacle Avoidance Methodology
4.4 Proposed Algorithm For Obstacle Avoidance
4.5 Summary

69
313 KB
6 5 NAVIGATION

5.1 Introduction
5.2 Identifying The Problem
5.3 Structure Of Fuzzy Controller
5.4 The Experimental Methods
5.5 Situation Reliant Routine
5.6 Results And Discussion
5.7 Results Showing Kinematics Constraints
5.8 Summary

106
331 KB
7 6 CONCLUSIONS AND FUTURE WORK

6.1 Conclusions
6.2 Future Recommendations

148
38 KB
8 7 REFERENCES

151
86 KB