Single-Query Robot Motion Planning using Rapidly Exploring Random Trees (RRTs)

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dc.contributor.authorBagot, Jonathan
dc.contributor.examiningcommitteeAnderson, John (Computer Science) McLeod, Robert (Electrical and Computer Engineering)en_US
dc.contributor.supervisorBaltes, Jacky (Computer Science)en_US
dc.date.accessioned2014-08-20T15:24:25Z
dc.date.available2014-08-20T15:24:25Z
dc.date.issued2014-08-20
dc.degree.disciplineComputer Scienceen_US
dc.degree.levelMaster of Science (M.Sc.)en_US
dc.description.abstractRobots moving about in complex environments must be capable of determining and performing difficult motion sequences to accomplish tasks. As the tasks become more complicated, robots with greater dexterity are required. An increase in the number of degrees of freedom and a desire for autonomy in uncertain environments with real-time requirements leaves much room for improvement in the current popular robot motion planning algorithms. In this thesis, state of the art robot motion planning techniques are surveyed. A solution to the general movers problem in the context of motion planning for robots is presented. The proposed robot motion planner solves the general movers problem using a sample-based tree planner combined with an incremental simulator. The robot motion planner is demonstrated both in simulation and the real world. Experiments are conducted and the results analyzed. Based on the results, methods for tuning the robot motion planner to improve the performance are proposed.en_US
dc.description.noteOctober 2014en_US
dc.identifier.urihttp://hdl.handle.net/1993/23829
dc.language.isoengen_US
dc.rightsopen accessen_US
dc.subjectRoboten_US
dc.subjectMotion Planningen_US
dc.subjectRapidly Exploring Random Treeen_US
dc.subjectForward Kinematicsen_US
dc.subjectInverse Kinematicsen_US
dc.subjectJacobianen_US
dc.subjectProbabilistic Road Mapen_US
dc.subjectConfiguration Spaceen_US
dc.subjectHumanoiden_US
dc.subjectDenavit Hartenbergen_US
dc.subjectNearest Neighboren_US
dc.subjectIncremental Simulatoren_US
dc.titleSingle-Query Robot Motion Planning using Rapidly Exploring Random Trees (RRTs)en_US
dc.typemaster thesisen_US
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