Path planning algorithm for a car like robot based on Coronoi Diagram Method

• Main Author: Inun, Haidie
• Format: Thesis
• Language: English; English; English
• Published: 2013
• Subjects: TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
• Online Access: http://eprints.uthm.edu.my/1907/1/24p%20HAIDIE%20INUN.pdf; http://eprints.uthm.edu.my/1907/2/HAIDIE%20INUN%20COPYRIGHT%20DECLARATION.pdf; http://eprints.uthm.edu.my/1907/3/HAIDIE%20INUN%20WATERMARK.pdf; http://eprints.uthm.edu.my/1907/

The purpose of this study is to develop an efficient offline path planning algorithm that is capable of finding optimal collision-free paths from a starting point to a goal point. The algorithm is based on Voronoi diagram method for the environment representation combined with Dijkstra’s algorithm to find the shortest path. Since Voronoi diagram path exhibits sharp corners and redundant turns, path tracking was applied considering the robot’s kinematic constraints. The results has shown that the Voronoi diagram path planning method recorded fast computational time as it provides simpler, faster and efficient path finding. The final path, after considering robot’s kinematic constraints, provides shorter path length and smoother compared to the original one. The final path can be tuned to the desired path by tuning the parameter setting; velocity, v and minimum turning radius, Rmin. In comparison with the Cell Decomposition method, it shows that Voronoi diagram has a faster computation time. This leads to the reduced cost in terms of time. The findings of this research have shown that Voronoi Diagram and Dijkstra’s Algorithm are a good combination in the path planning problem in terms of finding a safe and shortest path.