Robotic motion planning under spatial constraints

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Perustieteiden korkeakoulu | Bachelor's thesis
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Date

2024-05-08

Department

Major/Subject

Tietotekniikka

Mcode

SCI3027

Degree programme

Teknistieteellinen kandidaattiohjelma

Language

en

Pages

28

Series

Abstract

This thesis explores robotic motion planning. The use of robots in various industries is increasing, which has been made possible by the development of motion planning. Motivation for this thesis arises from the need to develop and understand more efficient algorithms that support the increased use of robots. This thesis explains motion planning in the context of object reconfiguration, where objects are simplified as unit discs. The thesis specifically addresses motion planning under spatial constraints. The constraints dictate robots to move with a single motion, without colliding with other objects. Central to the thesis is the analysis of a new motion planning algorithm. The goal of the algorithm is to determine the order in which robots can move to their target configurations, without causing collisions. This algorithm differs from general motion planning algorithms, as the target configuration is not completely predetermined, but only the robots' relationship towards each other has been determined. This means that the entire target configuration can be moved in the plane to a desired location. In addition, the thesis explores optimization of the algorithm. Two optimization methods are studied in more detail in this thesis. The first optimization examines how much of the target configuration must be shifted if the original configuration cannot be achieved without collisions. The second method examines the spatial requirements for reconfiguring robots without encountering collisions, aiming to bring the robots' target positions closer to their initial positions. In conclusion, this thesis provides a simple description of motion planning and object reconfiguration, as well as presenting optimization opportunities in that field. By exploring a new algorithm and its optimization strategies, it contributes to industry understanding and development. The thesis has been carried out as a literature review. The thesis is based on studies about motion planning.

Description

Supervisor

Savioja, Lauri

Thesis advisor

Kisfaludi-Bak, Sandor

Keywords

motion planning, optimization, constraint, reconfiguration, unit disc

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https://urn.fi/URN:NBN:fi:aalto-202406184557

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[kand] Perustieteiden korkeakoulu / SCI