CSE3011 – ROBOTICS AND ITS

APPLICATIONS
DIGITAL ASSIGNMENT 02
Name:D.Penchal Reddy
Reg.no:17BCE0918.
Faculty Name: M.Narayana Moorthi
(Q1)Write short notes on robot path planning techniques? Write a program to
simulate the cell decomposition techniques?
Ans) Path planning from location A to location B, simultaneous obstacle,
avoidance and reacting to environment changes are simple tasks for humans but
not so straightforward for an autonomous vehicle. These tasks present challenges
that each wheeled mobile robot needs to overcome to become autonomous. A
robot uses sensors to perceive the environment (up to some degree of
uncertainty) and to build or update its environment map. In order to determine
appropriate motion actions that lead to the desired goal location, it can use
different decision and planning algorithms. In the process of path planning, the
robot’s kinematic and dynamic constraints should be considered.
Path planning is used to solve problems in different fields, from simple spatial
route planning to selection of an appropriate action sequence that is required to
reach a certain goal. Since the environment is not always known in advance, this
type of planning is often limited to the environments designed in advance and
environments that we can describe accurately enough before the planning
process. Path planning can be used in fully known or partly known environments,
as well as in entirely unknown environments where sensed information defines
the desired robot motion.
Path planning in known environments is an active research area and presents a
foundation for more complex cases where the environment is not known a priori.
This chapter presents an overview of the most often used path planning
approaches applicable to wheeled mobile robots.
Program to simulate cell decomposition technique:

(Q2) Design a mobile robot using dynamic path planning algorithm?

Ans)