Banca de DEFESA: YURI SARMENTO SILVEIRA

Uma banca de DEFESA de MESTRADO foi cadastrada pelo programa.
DISCENTE : YURI SARMENTO SILVEIRA
DATA : 16/12/2016
HORA: 16:00
LOCAL: Auditório do nPITI
TÍTULO:

A New Robot Path Planning Method Based on Probabilistic Foam

PALAVRAS-CHAVES:

Autonomous Robotic System, Path Planning, Probabilistic Foam, Bubble, Wave Front, Search Tree.

PÁGINAS: 60
GRANDE ÁREA: Engenharias
ÁREA: Engenharia Elétrica
SUBÁREA: Eletrônica Industrial, Sistemas e Controles Eletrônicos
ESPECIALIDADE: Automação Eletrônica de Processos Elétricos e Industriais
RESUMO:

Path planning is a well studied problem in robotics. The capability of analyzing the environment and defining a sequence of actions that lead a robot from an initial location to a final desired location, without colliding with obstacles, is an fundamental ability when creating autonomous robotic systems that can run various functions.  

In order to contextualize the theme addressed in this work, a succinct study of the state-of-the-art on path planning for autonomous robotic systems is presented.

Each planning method has its own strategy to explore the ambient and plan the path. In this dissertation, a new robot path planning method is proposed. In the proposed method, the ambient free space is partially covered by a set called Probabilistic Foam, composed of the union of overlapping convex subsets called Bubbles.

Starting from the initial robot localization, new bubbles are randomly created on the surface of the foam, that propagates through the free space, with a behavior similar to a wave front propagation, generating a search tree that grows until reaching the desired final robot localization. In this way, it is possible to find a sequence of concatenated bubbles, called Rosary, connecting the desired final localization to the initial localization of the robot. A valid path contained in the maneuvering space defined by the rosary can be easily found.

In the proposed method, the search process is guided by only two parameters. Tuning criteria for these parameters are studied and presented in this work.

In order to validate the proposed path planning method, its performance was evaluated through computer simulations of different case studies.

MEMBROS DA BANCA:
Presidente - 1242315 - PABLO JAVIER ALSINA
Interno - 350751 - ADELARDO ADELINO DANTAS DE MEDEIROS
Interno - 2579664 - ALLAN DE MEDEIROS MARTINS
Externo à Instituição - EDUARDO OLIVEIRA FREIRE - UFS