Investigation into the Effects of Obstacle Dimensional Uncertainty on Path Planning Cost Metrics in a Mesh-Free Environment
Open Access
Author:
Tau, Seth
Graduate Program:
Mechanical Engineering
Degree:
Master of Science
Document Type:
Master Thesis
Date of Defense:
October 14, 2019
Committee Members:
Sean N Brennan, Thesis Advisor/Co-Advisor Karl Martin Reichard, Thesis Advisor/Co-Advisor Henry Joseph Sommer, III, Committee Member Daniel Connell Haworth, Program Head/Chair
Keywords:
uncertainty path-planning
Abstract:
This thesis describes the development of a novel, grid-free path planning approach based on visibility graphs and the well-known A-star algorithm. Relationships between uncertainty in map properties and path cost are also investigated. Additionally, a framework for determining the relationships between terrain factors and path planning metrics is proposed, and an example use of this framework shows a dependency in navigation on map complexity metrics. Ultimately, this thesis illustrates methods for rapidly analyzing maps and thereby determining the relationship between navigability and map characteristics.
