Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/75164
Full metadata record
DC FieldValueLanguage
dc.contributor.authorLim, Joyce Xin Yan-
dc.date.accessioned2018-05-28T09:19:54Z-
dc.date.available2018-05-28T09:19:54Z-
dc.date.issued2018-
dc.identifier.urihttp://hdl.handle.net/10356/75164-
dc.description.abstractSampling-based robotic motion planning algorithms have been the key concept of programming robot motion as they are validated to be probabilistically complete. Thus, numerous research studies have been carried out to continuously improve these algorithms to lower the cost, which includes the time taken to solve the query or the trajectory execution time. This report covers the benchmark of sampling-based motion planners, such as single-query and multi-query planners, in a static environment to determine whether reusing the roadmap of multi-query planners will reduce the cost of solving multiple queries, as compared to single-query planners where new trees are constructed for every query. The benchmark requires the use of Open Robotics Automation Virtual Environment (OpenRAVE), which provides an environment to simulate robot motion with their planners, and Open Motion Planning Library (OMPL) which has a variety of motion planners. The study also includes the integration of OMPL into OpenRAVE since the benchmark is carried out by using planners from not only OpenRAVE, but OMPL as well. Specifically, the benchmark will cover the total time taken to solve the queries with smoothing, total trajectory execution time and robustness of the planners. Also, the programming language used in this project is Python.en_US
dc.format.extent42 p.en_US
dc.language.isoenen_US
dc.rightsNanyang Technological University-
dc.subjectDRNTU::Engineeringen_US
dc.titleBenchmark on robotic motion planning algorithms in a drilling tasken_US
dc.typeFinal Year Project (FYP)en_US
dc.contributor.supervisorPham Quang Cuongen_US
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.description.degreeBachelor of Engineering (Mechanical Engineering)en_US
dc.contributor.researchRobotics Research Centreen_US
item.fulltextWith Fulltext-
item.grantfulltextrestricted-
Appears in Collections:MAE Student Reports (FYP/IA/PA/PI)
Files in This Item:
File Description SizeFormat 
Joyce_Lim_Final_Report.pdf
  Restricted Access
1.53 MBAdobe PDFView/Open

Page view(s)

431
Updated on Jul 16, 2024

Download(s) 50

71
Updated on Jul 16, 2024

Google ScholarTM

Check

Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.