Document Type
Thesis
Date of Award
8-31-1991
Degree Name
Master of Science in Electrical Engineering - (M.S.)
Department
Electrical and Computer Engineering
First Advisor
Edwin Hou
Second Advisor
Yun Q. Shi
Third Advisor
Anthony D. Robbi
Abstract
In this thesis, a new algorithm based on hierarchical cell decomposition and artificial potential field is developed to solve the find-path problem for a mobile robot. The basic cell structure used for decomposition is a hexagon. The artificial potential field is based on an attractive force from the goal position and repelling forces from the obstacles. Computer simulations of the algorithm for various obstacle scenarios are also presented.
Recommended Citation
Zheng, Dan, "Mobile robot path planning based on hierarchical hexagonal decomposition" (1991). Theses. 2689.
https://digitalcommons.njit.edu/theses/2689
