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Control of mobile robots moving in cluttered environments / von MSc-Eng. Muhannad Abdallah Shaker Mujahed ; Erster Gutachter: Prof. Dr.-Ing. Bärbel Mertsching, Zweiter Gutachter: Prof. Dr.-Ing. Dietrich Paulus. Paderborn, 2020
Inhalt
Introduction
Motivation and Goals
Contributions of this Work
Thesis Outline
Autonomous Mobile Robot Navigation
Introduction
Basic Concepts
Configuration Space
Configuration Space Obstacle
Notion of a Path and a Trajectory
Non-holonomic Mobile Robots
Lyapunov Stability Theory
Sensor Data
Path Planning Techniques
Roadmap Path Planning
Graph and Grid based Methods
Safe Interval Path Planning
Probabalistic Roadmap
Rapidly-exploring Random Tree
Reactive Navigation Techniques
Bug Algorithms
Artificial Potential Fields
Virtual Force Field
Vector Field Histogram
Dynamic Window Approach
Velocity Obstacles
Nearness-Diagram Navigation
A New Gap-based Collision Avoidance Approach - A Holonomic Solution
The Reactive Navigation Strategy
Preliminary Definitions and Notations
Selecting the Direction of Motion
Extracting Gaps
Locating the Subgoal
Determining Motion Commands
Simulation Results
Scenario 1 Simulations
Scenario 2 Simulations
Experimental Results
Conclusions
Smooth Navigation in Unstructured Narrow Spaces - A Holonomic Solution
Motion Situations and Corresponding Actions
Gap Rotation Angle
Tangential Rotation Angle
Gap Flow Rotation Angle
Tangential Gap Flow Rotation Angle
Determining Motion Commands
Limiting Speed
Stability Analysis
Experimental Results
Experimental Results for ND+ and CG
Experimental Results for SG and TGF
Conclusions
Evaluation of the Holonomic Solutions
Experimental Setup
Experiments
Experiment 1
Experiment 2
Experiment 3
Experiment 4
Experiment 5
Experiment 6
Experiment 7
Performance Measures
Efficiency Metrics
Oscillation Metrics
Smoothness Metrics
Physics-based Metrics
Security Metrics
Evaluation and Discussion
Under-constrained Reactive Collision Avoidance Navigation
Preliminary Definitions
Detecting Gaps
Spatial Discontinuities
Gaps Search
Gaps Reduction
Admissible Gap
Kinematic Constraints
Traversing Gaps
Checking Admissibility
AG Obstacle Avoidance Method
Goal Navigability Check
Gap Navigability Check
Setting Motion Commands
Experimental Results
Experiment 1
Experiment 2
Experiment 3
Experiment 4
Experiment 5
Experiment 6
Experiment 7
Evaluation and Discussion
Conclusions
Conclusions and Future Work
Conclusions
Future Work
Bibliography
List of Notations
List of Abbreviations
List of Tables
List of Figures
List of Publications
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