MARC details
| 000 -LEADER |
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| fixed length control field |
05462ntm a2200373 i 4500 |
| 003 - CONTROL NUMBER IDENTIFIER |
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| control field |
MY-KuUP |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
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| control field |
20251125110111.0 |
| 006 - FIXED-LENGTH DATA ELEMENTS--ADDITIONAL MATERIAL CHARACTERISTICS |
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t||||fr|||| 000 0 |
| 007 - PHYSICAL DESCRIPTION FIXED FIELD--GENERAL INFORMATION |
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ta |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
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220912t20222022my a|||fr|||| 000 0 eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
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| International Standard Book Number |
THE0009419 (Local) |
| Qualifying information |
hardback |
| 040 ## - CATALOGING SOURCE |
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| Original cataloging agency |
UMP |
| Language of cataloging |
eng |
| Transcribing agency |
UMP |
| Description conventions |
rda |
| 090 ## - LOCALLY ASSIGNED LC-TYPE CALL NUMBER (OCLC); LOCAL CALL NUMBER (RLIN) |
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| Classification number (OCLC) (R) ; Classification number, CALL (RLIN) (NR) |
FTKPM.A37 2022 r Thesis |
| 100 1# - MAIN ENTRY--PERSONAL NAME |
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| Personal name |
Aisha Muhammad, |
| Relator term |
author. |
| 245 12 - TITLE STATEMENT |
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| Title |
A generalized laser simulator algorithm for optimal path planning in constraints environment / |
| Statement of responsibility, etc. |
Aisha Muhammad |
| 264 #1 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
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| Place of production, publication, distribution, manufacture |
Pahang : |
| Name of producer, publisher, distributor, manufacturer |
Ump, |
| Date of production, publication, distribution, manufacture, or copyright notice |
2022 |
| 264 #4 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
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| Date of production, publication, distribution, manufacture, or copyright notice |
© 2022 |
| 300 ## - PHYSICAL DESCRIPTION |
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| Extent |
xv, 186 pages: |
| Other physical details |
Illustration ; |
| Dimensions |
30 cm. + |
| Accompanying material |
1 CD-ROM |
| 336 ## - CONTENT TYPE |
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| Content type term |
text |
| Source |
rdacontent |
| 336 ## - CONTENT TYPE |
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| Content type term |
text |
| Source |
rdacontent |
| 337 ## - MEDIA TYPE |
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| Media type term |
unmediated |
| Source |
rdamedia |
| 337 ## - MEDIA TYPE |
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| Media type term |
computer |
| Source |
rdamedia |
| 338 ## - CARRIER TYPE |
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| Carrier type term |
volume |
| Source |
rdacarrier |
| 338 ## - CARRIER TYPE |
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| Carrier type term |
computer disc |
| Source |
rdacarrier |
| 347 ## - DIGITAL FILE CHARACTERISTICS |
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| File type |
text file |
| Encoding format |
PDF |
| Source |
rda |
| 500 ## - GENERAL NOTE |
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| General note |
Faculty of Manufacturing & Mechatronics Engineering Technology |
| 502 ## - DISSERTATION NOTE |
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| Dissertation note |
Thesis (Doctor of Philosophy) -- Universiti Malaysia Pahang – 2022 |
| 504 ## - BIBLIOGRAPHY, ETC. NOTE |
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| Bibliography, etc. note |
Includes bibliographical reference |
| 520 3# - SUMMARY, ETC. |
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| Summary, etc. |
Path planning plays a vital role in autonomous mobile robot navigation, and it has thus become one of the most studied areas in robotics. Path planning refers to a robot's search for a collision-free and optimal path from a start point to a predefined goal position in a given environment. This research focuses on developing a novel path planning algorithm, called Generalized Laser Simulator (GLS), to solve the path planning problem of mobile robots in a constrained environment. This approach allows finding the path for a mobile robot while avoiding obstacles, searching for a goal, considering some constraints and finding an optimal path during the robot movement in both known and unknown environments. The feasible path is determined between the start and goal positions by generating a wave of points in all directions towards the goal point with adhering to constraints. A simulation study employing the proposed approach is applied to the grid map settings to determine a collision-free path from the start to goal positions. First, the grid mapping of the robot's workspace environment is constructed, and then the borders of the workspace environment are detected based on the new proposed function. This function guides the robot to move toward the desired goal. Two concepts have been implemented to find the best candidate point to move next: minimum distance to goal and maximum index distance to the boundary, integrated by negative probability to sort out the most preferred point for the robot trajectory determination. In order to construct an optimal collision-free path, an optimization step was included to find out the minimum distance within the candidate points that have been determined by GLS while adhering to particular constraint's rules and avoiding obstacles. The proposed algorithm will switch its working pattern based on the goal minimum and boundary maximum index distances. For static obstacle avoidance, the boundaries of the obstacle(s) are considered borders of the environment. However, the algorithm detects obstacles as a new border in dynamic obstacles once it occurs in front of the GLS waves. The proposed method has been tested in several test environments with different degrees of complexity. Twenty different arbitrary environments are categorized into four: Simple, complex, narrow, and maze, with five test environments in each. The results demonstrated that the proposed method could generate an optimal collision-free path. Moreover, the proposed algorithm result are compared to some common algorithms such as the A* algorithm, Probabilistic Road Map, RRT, Bi-directional RRT, and Laser Simulator algorithm to demonstrate its effectiveness. The suggested algorithm outperforms the competition in terms of improving path cost, smoothness, and search time. A statistical test was used to demonstrate the efficiency of the proposed algorithm over the compared methods. The GLS is 7.8 and 5.5 times faster than A* and LS, respectively, generating a path 1.2 and 1.5 times shorter than A* and LS. The mean value of the path cost achieved by the proposed approach is 4% and 15% lower than PRM and RRT, respectively. The mean path cost generated by the LS algorithm, on the other hand, is 14% higher than that generated by the PRM. Finally, to verify the performance of the developed method for generating a collision-free path, experimental studies were carried out using an existing WMR platform in labs and roads. The experimental work investigates complete autonomous WMR path planning in the lab and road environments using live video streaming. The local maps were built using data from live video streaming s by real-time image processing to detect the segments of the lab and road environments. The image processing includes several operations to apply GLS on the prepared local map. The proposed algorithm generates the path within the prepared local map to find the path between start-to-goal positions to avoid obstacles and adhere to constraints. The experimental test shows that the proposed method can generate the shortest path and best smooth trajectory from start to goal points in comparison with the laser simulator. |
| 610 20 - SUBJECT ADDED ENTRY--CORPORATE NAME |
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| Corporate name or jurisdiction name as entry element |
Faculty of Manufacturing & Mechatronics Engineering Technology |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Universities and colleges |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Thesis |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) |
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| Source of classification or shelving scheme |
Library of Congress Classification |
| Koha item type |
Thesis |