الفهرس 
Motion Planning - an overviewOnly 14 pages are availabe for public view
 |  | from | 32 |  |  |
| | | from | 32 | | |
Abstract
planning for rigid body robots which must be solved before a robot can perfom1real-world tasks such
as mine searching and processing. This thesis addresses the problem of safely navigating an
autonomous robot through free space of a two dimensional static world model with polygonal
obstacles, from a start configuration (position I orientation) to a goal configuration, using
smooth motion under the structure of path_class-based motion planning (PCMP) approach. The
approach divides the motion planning problem of a rigid body robot into two main sub-problems: The
first problem is finding a global path defined by it’s bounding obstacles, and the second problem
is how to plan a local motion from the start configuration, using the aforementioned global path.
This work implements the first problem, and illustrates how the technique simplifies dealing
with the
second problem.
The approach is particularly or advantages in terms of symbolically represents the free space into
finite set of path classes and readily adaptable for optimizing choice of path class, and
the proposed system has been
successfully tested.