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https://hdl.handle.net/10216/135368| Author(s): | Paulo Alexandre Sousa Silva |
| Title: | Development and implementation of a B-Spline motion planning framework for autonomous mobile robots |
| Issue Date: | 2021-07-19 |
| Abstract: | This project fits within the area of robotics. The main idea is to utilize the properties of b-splines curves in order to solve motion planning optimization problems. This approach allows to deviate from the traditional motion planning algorithms, that are usually used. Due to its mathematical nature, this approach allows the use of theorems like the Separating Hyperplane Theorem for the obstacle avoidance problem. An important aspect to notice is that this project will be integrated with the other projects developed by other students in order to participate in "The Autonomous Ship Challenge" competition to be held in Norway. |
| Description: | O projeto enquadra-se na área da robótica. A ideia deste projeto é utilizar as propriedades das curvas b-spline para resolver problemas de otimização de motion planning. Esta abordagem permite desviar dos tradicionais motion planning algorithms que são normalmente utilizados. Devido á sua natureza matemática, esta abordagem permite a utilização de teoremas como o Separating Hyperplane Thereoem para realizar o desvio de obstáculos. Um aspecto importante a ter em conta é que este projeto irá ser integrado com os projetos desenvolvidos por outros alunos de modo a participar na competição The Autonomous Ship Challenge, a ser realizada na Noruega. |
| Subject: | Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering |
| Scientific areas: | Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática Engineering and technology::Electrical engineering, Electronic engineering, Information engineering |
| DOI: | 10.34626/f8b5-gy45 |
| TID identifier: | 202824330 |
| URI: | https://hdl.handle.net/10216/135368 |
| Document Type: | Dissertação |
| Rights: | openAccess |
| License: | https://creativecommons.org/licenses/by/4.0/ |
| Appears in Collections: | FEUP - Dissertação |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 486180.pdf | Development and Implementation of a B-Spline Motion Planning Framework for Autonomous Mobile Robots | 10.85 MB | Adobe PDF |  View/Open |
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