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A-star (A*) algorithm implementation for robotics path planning navigation / Emirul Ridzwan Nor Azmi

By:

Emirul Ridzwan Nor Azmi [author.]

Material type: Text

TextPublisher: Kuantan, Pahang : UMP, 2018Description: xii, 67 pages : illustrations (some color) ; 30 cm. + 1 CD-ROMContent type:

text

Media type:

unmediated
computer

Carrier type:

volume
computer disc

ISBN:

THE0005327(Local)

Subject(s):

Dissertation note: Project Paper (Bachelor of Mechatronics Engineering (UMP-HsKA)) - (Dual Degree Programme with Karlsruhe University of Applied Sciences, HsKA, Germany) -- Universiti Malaysia Pahang – 2018 Abstract: This thesis is about the implementation of Astar (A*) algorithm as path planning algorithm used in robotics navigation. This Astar (A*) algorithm is a smart algorithm which can produce a pathway with a minimum path score avoiding the obstacles within its way. This algorithm also known as the most famous used algorithm in path planning because of its ability to provide a collision-free pathway with a minimum path score. For this project, the main objective is to design and implement an Astar (A*) algorithm. With the used of MATLAB software, the algorithm should be able to provide an optimized pathway and the pathway generated in this software should be a collision-free pathway. In order to provide a real-time map, this project is equipped with a single camera to the prototype of the functional area. This single camera will capture an image of the environment and convert to a black and white map for the algorithm to work on. Other than that, the project used random objects as to provide obstacles in the environment (functional area). At the end of this project, the algorithm functions which to provide a shortest pathway and also a collision-free pathway is verified. The factors (light intensity, colors, position) that may affect the behavior of the Astar (A*) algorithm were identified in the result section in this paper.

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Holdings ( 2 )
Title notes ( 4 )

Holdings
Item type	Current library	Call number	Copy number	Status	Date due	Barcode
Final Year Report	UMPLIB PEKAN	FKP .E45 2018 r Bc. (Browse shelf(Opens below))	1	Final Processing		0000122772
Final Year Report	UMPLIB PEKAN	CD 11269 \| FKP .E45 2018 r Bc. (Browse shelf(Opens below))	1	Not for loan		0000122773

Faculty of Manufacturing Engineering

Project Paper (Bachelor of Mechatronics Engineering (UMP-HsKA)) - (Dual Degree Programme with Karlsruhe University of Applied Sciences, HsKA, Germany) -- Universiti Malaysia Pahang – 2018

Includes bibliographical references

This thesis is about the implementation of Astar (A*) algorithm as path planning algorithm used in robotics navigation. This Astar (A*) algorithm is a smart algorithm which can produce a pathway with a minimum path score avoiding the obstacles within its way. This algorithm also known as the most famous used algorithm in path planning because of its ability to provide a collision-free pathway with a minimum path score. For this project, the main objective is to design and implement an Astar (A*) algorithm. With the used of MATLAB software, the algorithm should be able to provide an optimized pathway and the pathway generated in this software should be a collision-free pathway. In order to provide a real-time map, this project is equipped with a single camera to the prototype of the functional area. This single camera will capture an image of the environment and convert to a black and white map for the algorithm to work on. Other than that, the project used random objects as to provide obstacles in the environment (functional area). At the end of this project, the algorithm functions which to provide a shortest pathway and also a collision-free pathway is verified. The factors (light intensity, colors, position) that may affect the behavior of the Astar (A*) algorithm were identified in the result section in this paper.