Experimental testbeds for real-time motion planning : implementation and lessons learned

A fundamental step in research on autonomous robotic systems is the actual development and test of experimental platforms, to validate the system design and the effective integration of hardware and real-time software. The objective of this thesis is to report on experimental implementation of platforms and testing environments for real-time motion planning. First of all, robust planning and control system using closed-loop prediction RRT approach was implemented on a robotic forklift. The system displayed robust performance in the execution of several tasks in an uncertain demonstration environment at Fort Belvoir in Virginia, in June, 2009. Second, an economical testbed based on an infrared motion capture system is implemented for indoors experiments. Exploiting the advantages of a controlled indoor environment and reliable navigation outputs through motion capture system, different variations of the planning problem can be explored with accuracy, safety, and convenience.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2009

Author dc:creator

• Jeon, Jeong Hwan, Ph. D. Massachusetts Institute of Technology

Advisor dc:contributor.advisor

• Emilio Frazzoli.

• Aeronautics and Astronautics.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/57691

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/57691