Masters Theses

Date of Award

12-1987

Degree Type

Thesis

Degree Name

Master of Science

Major

Electrical Engineering

Major Professor

R. C. Gonzalez

Committee Members

D. W. Bouldin, M. O. Pace, M. A. Abidi

Abstract

A 2-D and 3-D path planning algorithm for robot navigation and manipulation is developed in this thesis. This method is of particular interest for robotic systems which require both 2-D navigation to reach the work site and 3-D path planning for on-site manipulation and inspection. This study extends the approach of 2-D path planning to 3-D with minimal effort. The quadtree and octree structures are used for 2-D and 3-D workspace representation, respectively. The quadtree and octree is generated from brightness image of the workspace obtained using a camera mounted on a robot. Path generation is based on the A* algorithm. The spatial length and the clearance space available for the robot are used as constraints in the path generation. The distance transform is used as a measure to compute the clearance space along the path. A methodology is developed to compute the distance transform of the free nodes in the 3-D workspace that is represented by an octree. The results of this approach are illustrated through an experimental system setup on a robotic workstation.

Download
Files over 3MB may be slow to open. For best results, right-click and select "save as..."

Share

COinS