Skip to main content
Duke University Libraries
DukeSpace Scholarship by Duke Authors
  • Login
  • Ask
  • Menu
  • Login
  • Ask a Librarian
  • Search & Find
  • Using the Library
  • Research Support
  • Course Support
  • Libraries
  • About
View Item 
  •   DukeSpace
  • Theses and Dissertations
  • Masters Theses
  • View Item
  •   DukeSpace
  • Theses and Dissertations
  • Masters Theses
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

A Cell Decomposition Approach to Robotic Trajectory Planning via Disjunctive Programming

Thumbnail
View / Download
6.7 Mb
Date
2012
Author
Swingler, Ashleigh
Advisor
Ferrari, Silvia
Repository Usage Stats
474
views
2,236
downloads
Abstract

This thesis develops a novel solution method for the problem of collision-free, optimal control of a robotic vehicle in an obstacle populated environment. The technique presented combines the well established approximate cell decomposition methodology with disjunctive programming in order to address both geometric and kinematic trajectory concerns. In this work, an algorithm for determining the shortest distance, collision-free path of a robot with unicycle kinematics is developed. In addition, the research defines a technique to discretize nonholonomic vehicle kinematics into a set of mixed integer linear constraints. Results obtained using the Tomlab/CPLEX mixed integer quadratic programming software exhibit that the method developed provides a powerful initial step in reconciling geometric path planning methods with optimal control techniques.

Type
Master's thesis
Department
Mechanical Engineering and Materials Science
Subject
Robotics
Artificial intelligence
Cell Decomposition
Mixed Integer Programming
Motion Planning
Unicycle Model
Permalink
https://hdl.handle.net/10161/5542
Citation
Swingler, Ashleigh (2012). A Cell Decomposition Approach to Robotic Trajectory Planning via Disjunctive Programming. Master's thesis, Duke University. Retrieved from https://hdl.handle.net/10161/5542.
Collections
  • Masters Theses
More Info
Show full item record
Creative Commons License
This work is licensed under a Creative Commons Attribution-Noncommercial-No Derivative Works 3.0 United States License.

Rights for Collection: Masters Theses


Works are deposited here by their authors, and represent their research and opinions, not that of Duke University. Some materials and descriptions may include offensive content. More info

Make Your Work Available Here

How to Deposit

Browse

All of DukeSpaceCommunities & CollectionsAuthorsTitlesTypesBy Issue DateDepartmentsAffiliations of Duke Author(s)SubjectsBy Submit DateThis CollectionAuthorsTitlesTypesBy Issue DateDepartmentsAffiliations of Duke Author(s)SubjectsBy Submit Date

My Account

LoginRegister

Statistics

View Usage Statistics
Duke University Libraries

Contact Us

411 Chapel Drive
Durham, NC 27708
(919) 660-5870
Perkins Library Service Desk

Digital Repositories at Duke

  • Report a problem with the repositories
  • About digital repositories at Duke
  • Accessibility Policy
  • Deaccession and DMCA Takedown Policy

TwitterFacebookYouTubeFlickrInstagramBlogs

Sign Up for Our Newsletter
  • Re-use & Attribution / Privacy
  • Harmful Language Statement
  • Support the Libraries
Duke University