RT Dissertation/Thesis
T1 Motion Planning under Uncertainty for Autonomous Navigation of Mobile Robots and UAVs
A1 González Sieira, Adrián
K1 Motion planning
K1 Mobile robots
K1 UAVs
K1 Autonomous navigation
AB This thesis presents a reliable and efficient motion planning approach based on state latticesfor the autonomous navigation of mobile robots and UAVs. The proposal retrieves optimalpaths in terms of safety and traversal time, and deals with the kinematic constraints and themotion and sensing uncertainty at planning time. The efficiency is improved by a novelgraduated fidelity state lattice which adapts to the obstacles in the map and themaneuverability of the robot, and by a new multi-resolution heuristic which reduces thecomputational complexity. The motion planner also includes a novel method to reliablyestimate the probability of collision of the paths considering the uncertainty in heading andthe robot dimensions.
YR 2020
FD 2020
LK http://hdl.handle.net/10347/23295
UL http://hdl.handle.net/10347/23295
LA eng
DS Minerva
RD 23 abr 2026