Path planning for N- degrees of freedom in a confined space represented by N- dimensions using approximate cell decomposition for hypercubes to graph node traversal to calculate the optimal path (gNND*)
The purpose of this paper is to describe a method for path planning for a mobile object in a confined space that has multiple degrees of freedom. In addition, it will describe the application to a test bed vehicle. The method relates independent degrees of freedom of the object as different dimensions in a hyper- dimensional space.
Obstacles are modified based on configuration space to reduce complexity. The hyper- dimensional configuration space is broken down using a method of approximate cell decomposition into hypercubes. Each of those hypercubes are represented as a node in a graph. The graph then can be traversed by the A* shortest path algorithm to produce the shortest path. This method, although memory intensive, represents a way for an object with many degrees of freedom to operate in a confined space with many obstacles to progress from a start state to a destination state in quick order time.
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Bachelor of Science (B.S.)
College of Engineering and Computer Science
Dissertations, Academic -- Engineering; Engineering -- Dissertations, Academic; Robots -- Motion
Length of Campus-only Access
Honors in the Major Thesis
Stein, Gary, "Path planning for N- degrees of freedom in a confined space represented by N- dimensions using approximate cell decomposition for hypercubes to graph node traversal to calculate the optimal path (gNND*)" (2004). HIM 1990-2015. 400.