Adaptive path planners for mobile robots

Pao Yue-kong Library Electronic Theses Database

Adaptive path planners for mobile robots


Author: Chan, Ki Chun
Title: Adaptive path planners for mobile robots
Degree: M.Sc.
Year: 2015
Subject: Mobile robots.
Hong Kong Polytechnic University -- Dissertations
Department: Dept. of Electronic and Information Engineering
Pages: 63 pages : color illustrations ; 30 cm
Language: English
Abstract: An adaptive path planner implemented using a hybrid A*ACO algorithm has been developed to generate paths in different terrains. The search space is in two dimensions and represented as grid. An application of the adaptive path planner in container terminals has been investigated. The performance of the proposed algorithm is evaluated using computer simulations. Simulation results show that path planners with the proposed algorithm are able to find desirable solutions faster than path planners with a conventional A* algorithm. The performance of the proposed algorithm can be further improved by fine-tuning its parameters.

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