11-04-2012, 01:38 PM
Grid-Solving-Robot
ACKNOWLEDGEMENT
Many lives & destinies are destroyed due to the lack of proper guidance, directions & opportunities. It is in this respect I feel that I am in much better condition today due to continuous process of motivation & focus provided by my parents, teachers, friends & My Beloved in general. The process of completion of this project was a tedious job & requires care & support at all stages. I would like to highlight the role played by individuals towards this.
We would like to express our sincere thanks, with deep sense of gratitude to our project guide Mr.Hashim Ali Sayyed for his keen interest in our project. I am very thankful to Mr.Hashim Ali Sayyed Head of Department, for his kind support & faith on us.
I am eternally grateful to honorable principal Hon. Moinuddin Khan for providing us the opportunity & infrastructure to complete the project as a partial fulfillment of B.E degree.
We take this opportunity to thank all our lecturers who have directly or indirectly helped our project. We pay our respects and love to our parents and all other family members and friends for their love and encouragement throughout our career. Last but not the least we express our thanks to our friends for their cooperation and support.
ABSTRACT
A key ability required for an autonomous mobile robot is the possibility to navigate through the large space. The last few decades have recorded a paradigm shift from remotely operated machines to autonomous robotic vehicles. The current research is focused on the determination of the shortest path mechanism, which is clear and evident from the scope of recent literature. In this scheme of traversing, the robot travels between a starting point and a target point without the need for human intervention. Generally, the problem of navigation could be summarized in the following three questions: “Where am I? Where am I going? How should I get there?" The first question is related to localization of the robotic agent; the second question deals with the goal state description, while the last question comes under the domain of path planning and obstacle avoidance mechanism. The path-planning problem is defined as: “Given a robot and a description of an environment, now the requirement is to plan a path between the two specific locations. The path must be collision-free (feasible) and satisfy certain optimization criteria. A large number of methods for solving the path planning problem based on an environment map are known.
Navigation is a major challenge for autonomous robotic agents. (Finding a collision-free motion for the robot system from one configuration or state to another).
The most significant challenges confronting autonomous robotics lie in the area of automatic path planning. Path Planning has become a major research theme in robotics.
In past, finding collision-free paths was the main goal. Today, while obstacle avoidance remains a vital issue, other important constraints are required to be considered as well (optimality, coverage, equilibrium etc.).