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published_or_final_version / Industrial and Manufacturing Systems Engineering / Doctoral / Doctor of Philosophy

published_or_final_version / Mathematics / Master / Master of Philosophy

published_or_final_version / Mathematics / Master / Master of Philosophy

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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.

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University of Macau / Faculty of Science and Technology / Department of Computer and Information Science