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Table Of Contents

1. INTRODUCTION
2. INTRODUCTION TO MOTION PLANNING
2.1 Previous Work
2.1.1 Kinematic Constraints
2.1.2 Kinodynamic Motion Planning
2.1.3 Inclusion of Sensor Information and Uncertainty
2.2 System Level Interactions
2.3 Motivation of Simulation for Motion Planning Development
2.3.1 Environment Modelling
3.1 Desired Functionality
3.2 Related Work
3.3 Simulation Framework for Algorithm Prototyping
3.3.1 Overview
3.3.2 Rigid Body Dynamics
3.3.3 Terrain Model
3.3.4 Sensor Simulation
3.3.5 Simulation Content Tool-Chain
3.4 Validations and Performance
3.4.1 Validation of Simulations
3.4.2 Performance Analysis
3.4.3 Limitations of Simulation Approach
4. ROBOT MOTION PLANNING
4.1 All-Terrain Motion Planning
4.1.1 The “Degree of Obstacleness”
4.1.2 Randomised Potential Field (RPP) Approach
4.1.3 Rapidly-Exploring Random Trees (RRT) Approach
4.1.4 Performance Comparison
4.1.5 Trajectory Following
4.2 Dynamic Environments
4.2.1 Scenario Description
4.2.2 Integration of Sensor Information
4.2.3 Dynamic Re-Planning
4.3 Results
5. CONCLUSION
6. OUTLOOK
APPENDIX
A.1 List of Symbols
A.2 List of Abbreviations
BIBLIOGRAPHY
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EPFL_TH3663

EPFL_TH3663

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Published by: medjal on Feb 17, 2012
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