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Development of a three dimensional path planner for aerial robotic workers

ZOMPAS, A. (2016) Development of a three dimensional path planner for aerial robotic workers.

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Abstract:With the development of industry the need of a safe and low cost method for maintenance and repair raised. A proposal to this need are the Aerial Robotic Workers (ARWs). These workers have to operate autonomously and conduct tasks in a variety of locations. To achieve this autonomous behavior, it is required to generate collision free paths between the position of the ARWs and the location where they have to operate in runtime. Within this report a solution is documented which allows the robotic workers to generate three dimensional paths on runtime avoiding obstacle collision. The proposed method is constructed by a visibility graph and the A* path planner. The visibility graph is based on the octomap representation from which the nodes which construct the graph are generated. Finally, tools, such as the unordered map structure, were integrated in to the solution to lower the processing time. It was shown that with the use of this method three dimensional path generation is feasible in runtime.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:30 exact sciences in general, 31 mathematics, 54 computer science
Programme:Electrical Engineering MSc (60353)
Link to this item:http://purl.utwente.nl/essays/71490
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