Persistent Link:
http://hdl.handle.net/10150/277041
Title:
Efficient heuristics for collision avoidance in three dimensions
Author:
Rushall, David Aaron, 1964-
Issue Date:
1989
Publisher:
The University of Arizona.
Rights:
Copyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.
Abstract:
This thesis represents a relatively new aspect of computing with regard to robotics. The need for fast, efficient collision avoidance algorithms is growing rapidly. Because conventional methods are complex and require vast amounts of computation, heuristic algorithms are more appealing. The focus of this thesis is the problem of moving a point through three dimensional space while avoiding known polyhedral obstacles. A heuristic algorithm to find shortest (near-optimal) collision-free paths in the presence of polyhedral obstacles, given initial and final positions, is presented. Previous methods for the problem rely on an a priori discretization of the space. The points in the discretization form nodes of a graph, and the collision avoidance problem is then solved by using some shortest path algorithm on the graph. The heuristic suggested here successively adds nodes to a graph, thus keeping the size of the graph manageable. The computational results are extremely encouraging.
Type:
text; Thesis-Reproduction (electronic)
Keywords:
Heuristic programming.; Algorithms.; Artificial intelligence.; Robotics.
Degree Name:
M.S.
Degree Level:
masters
Degree Program:
Graduate College; Systems and Industrial Engineering
Degree Grantor:
University of Arizona
Advisor:
Sen, Suvrajeet

Full metadata record

DC FieldValue Language
dc.language.isoen_USen_US
dc.titleEfficient heuristics for collision avoidance in three dimensionsen_US
dc.creatorRushall, David Aaron, 1964-en_US
dc.contributor.authorRushall, David Aaron, 1964-en_US
dc.date.issued1989en_US
dc.publisherThe University of Arizona.en_US
dc.rightsCopyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.en_US
dc.description.abstractThis thesis represents a relatively new aspect of computing with regard to robotics. The need for fast, efficient collision avoidance algorithms is growing rapidly. Because conventional methods are complex and require vast amounts of computation, heuristic algorithms are more appealing. The focus of this thesis is the problem of moving a point through three dimensional space while avoiding known polyhedral obstacles. A heuristic algorithm to find shortest (near-optimal) collision-free paths in the presence of polyhedral obstacles, given initial and final positions, is presented. Previous methods for the problem rely on an a priori discretization of the space. The points in the discretization form nodes of a graph, and the collision avoidance problem is then solved by using some shortest path algorithm on the graph. The heuristic suggested here successively adds nodes to a graph, thus keeping the size of the graph manageable. The computational results are extremely encouraging.en_US
dc.typetexten_US
dc.typeThesis-Reproduction (electronic)en_US
dc.subjectHeuristic programming.en_US
dc.subjectAlgorithms.en_US
dc.subjectArtificial intelligence.en_US
dc.subjectRobotics.en_US
thesis.degree.nameM.S.en_US
thesis.degree.levelmastersen_US
thesis.degree.disciplineGraduate Collegeen_US
thesis.degree.disciplineSystems and Industrial Engineeringen_US
thesis.degree.grantorUniversity of Arizonaen_US
dc.contributor.advisorSen, Suvrajeeten_US
dc.identifier.proquest1337436en_US
dc.identifier.oclc24417426en_US
dc.identifier.bibrecord.b17867228en_US
dc.identifier.bibrecord.b17867216en_US
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