Path planning in nonholonomic system using hybridization of voronoi and Q-learning algorithms
مقدم أطروحة جامعية
مشرف أطروحة جامعية
الجامعة
جامعة فيلادلفيا
الكلية
كلية تكنولوجيا المعلومات
القسم الأكاديمي
قسم علم الحاسوب
دولة الجامعة
الأردن
الدرجة العلمية
ماجستير
تاريخ الدرجة العلمية
2017
الملخص الإنجليزي
Robot movement in an environment may collide with obstacles.
Path planning is an important part of a navigation system which is composed of four parts: presentation, localization, path planning and path execution.
The path planning part is defined as a series of movement that leads the mobile robot to move from the starting point to the target without colliding with any obstacle.
The mobile robot path planning is very important especially in the environment where it's very dangerous for humans to work in such as heavy workshops, power electric environment etc.
The aim of this study is to solve path planning problems by using the hybridization of Voronoi and Q-learning algorithms.
The Voronoi algorithm has the ability to obtain an obstacle position represented by multiple points in space.
On the other hand, Q-learning has a good performance in navigation strategy.
The simulation of the proposed work has the ability to use a different style of maps that represent the robot, the target, and the obstacle positions.
The application areas of the proposed work are considered as mechatronics engineering, industrial, and robotics.
The evaluation process is performed in two main scenarios: the first one in static environment whiles the second one in the dynamic environment.
Finally, a comparison with other related works is performed and the result of this comparisons shows that our algorithm provides better performance in terms of wasting the space and the time needed to reach the target.
التخصصات الرئيسية
تكنولوجيا المعلومات وعلم الحاسوب
عدد الصفحات
43
قائمة المحتويات
Table of contents.
Abstract.
Abstract in Arabic.
Chapter One : Introduction.
Chapter Two : Background and related works.
Chapter Three : Proposed system methodology.
Chapter Four : Implementation.
Chapter Five : Results analysis.
Chapter Six : Conclusions and future works.
References.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Hasan, Mustafa Muhammad. (2017). Path planning in nonholonomic system using hybridization of voronoi and Q-learning algorithms. (Master's theses Theses and Dissertations Master). Philadelphia University, Jordan
https://search.emarefa.net/detail/BIM-955871
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Hasan, Mustafa Muhammad. Path planning in nonholonomic system using hybridization of voronoi and Q-learning algorithms. (Master's theses Theses and Dissertations Master). Philadelphia University. (2017).
https://search.emarefa.net/detail/BIM-955871
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Hasan, Mustafa Muhammad. (2017). Path planning in nonholonomic system using hybridization of voronoi and Q-learning algorithms. (Master's theses Theses and Dissertations Master). Philadelphia University, Jordan
https://search.emarefa.net/detail/BIM-955871
لغة النص
الإنجليزية
نوع البيانات
رسائل جامعية
رقم السجل
BIM-955871
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر
