Optimal control and strategy of autonomous mobile robot 2D/3D simulation

摘要

91 p. ; ill. ; 30 cm%%%%In This project, a method of path planning without collision by using linear parametric smoothed curve characteristic is presented. We start from an initial position to a target then control points for which connections were made determine the form of the path. Initially, we consider 2D path planning i.e. navigation is carried out in planar environment. Then we consider the 3D path planning in simple forms. Finally, we consider the 3D path planning of complex forms, followed by simulation under AutoCAD software using Visual Basic macro of all the consider cases. As several solutions are presented, an algorithm based on the simulated annealing technique for the choice of the optimal path is presented. For a future implementation of a platform we discussed the choice of the sensors which can be used