Urban mobile robot routing using fast search random tree method (RRT) in obstacle environments

Abstract

Abstract In this thesis, the objective of path planning and control systems for robot is multifactorial. The method used for navigation algorithms based on is closed-loop random trees with quick search or CL-RRT. In this algorithm, each robot will grow a tree from its current location to the target or zone target is developed. The main advantage of this method is the ability to function in complex environments. For use this method, it is necessary that the CL-RRT algorithm for robot navigation online, be extended. In online mode, the robot does not have any information about the environment and through its sensors, which detect the environment and the ability to function in environments with obstacles dynamic and could face a new obstacle or the possibility of an obstacle's dynamic (the other a robot) to change its direction during motion. Performance of the design path used with design the controller for robot in an environment with various obstacles are evaluated and then this design is for a group of robots used. To coordinate among agents and to ensure that there is no conflict between them there is strategy based on, priority assignment and LOS method. The strategy used in a way that ensures that the collision between agents does not happen and benefits of the design methods path used to keep. As a result of this strategy can be divided into two parts, the first part of the prioritization robots and the second part of the strategy, no conflict robot is in motion. In this thesis the problem of forming a group of robots has been investigated. In other words, the agents move in the number of agents must be a specific form. The agents according to a number try to set form (originally defined) to its motion to follow, also when faced with obstacles or other agents of its priorities is no conflict with obstacles or other factors and this moment it is possible to change the shape of their,if this will happen again the situation changes be considered form to make its motion.