Performance Analysis Of Path Planning Algorithm For Autonomous Mobile Robots

Atan, Ali Syahiran (2019) Performance Analysis Of Path Planning Algorithm For Autonomous Mobile Robots. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

Text (24 Pages) Performance Analysis Of Path Planning Algorithm For Autonomous Mobile Robots.pdf - Submitted Version Download (212kB)

Abstract

This project relates to the fundamental problem of the autonomous mobile robot are localization, mapping, and path planning or motion planning. This project, analysis one of the problems related to path planning that affects the performance of the mobile robot. Three objectives that had been done from this project which is: first is to analyze the performance of the path planning algorithm (Probabilistic Roadmap and Dynamic) by changing the distance between a node and the number of node parameter. The second objective of this project is to implement the result that the algorithm had calculated and using the data as the optimum parameter for Thymio mobile robot. The final objective of the project is to validate the PRM P.P algorithm by comparing between simulation and experiment result with respect to accurate measurement. Because of the limitation of time and resource, the scope of the project is finding a suitable algorithm by simulation and the best result will be chosen to run it on the real world experiment. The mobile robot that uses on the project is differential drive robot Thymio. The software that uses on this project are Matlab 2015 version is to run and simulate the path planning and mobile robot while Aseba Studio uses to program Thymio mobile robot. What this project was able to find is the parameter of the path planning does affect the character of the mobile robot.

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