Control of mobile robots moving in cluttered environments / von MSc-Eng. Muhannad Abdallah Shaker Mujahed ; Erster Gutachter: Prof. Dr.-Ing. Bärbel Mertsching, Zweiter Gutachter: Prof. Dr.-Ing. Dietrich Paulus. Paderborn, 2020
Inhalt
- Introduction
- Autonomous Mobile Robot Navigation
- Introduction
- Basic Concepts
- Configuration Space
- Configuration Space Obstacle
- Notion of a Path and a Trajectory
- Non-holonomic Mobile Robots
- Lyapunov Stability Theory
- Sensor Data
- Path Planning Techniques
- Roadmap Path Planning
- Graph and Grid based Methods
- Safe Interval Path Planning
- Probabalistic Roadmap
- Rapidly-exploring Random Tree
- Reactive Navigation Techniques
- A New Gap-based Collision Avoidance Approach - A Holonomic Solution
- The Reactive Navigation Strategy
- Preliminary Definitions and Notations
- Selecting the Direction of Motion
- Extracting Gaps
- Locating the Subgoal
- Determining Motion Commands
- Simulation Results
- Experimental Results
- Conclusions
- Smooth Navigation in Unstructured Narrow Spaces - A Holonomic Solution
- Motion Situations and Corresponding Actions
- Gap Rotation Angle
- Tangential Rotation Angle
- Gap Flow Rotation Angle
- Tangential Gap Flow Rotation Angle
- Determining Motion Commands
- Experimental Results
- Conclusions
- Evaluation of the Holonomic Solutions
- Under-constrained Reactive Collision Avoidance Navigation
- Preliminary Definitions
- Detecting Gaps
- Admissible Gap
- AG Obstacle Avoidance Method
- Experimental Results
- Evaluation and Discussion
- Conclusions
- Conclusions and Future Work
- Bibliography
- List of Notations
- List of Abbreviations
- List of Tables
- List of Figures
- List of Publications