Purnama, Aryaputra Teguh and Tanaya, Prianggada Indra and Sinaga, Maralo (2014) Analysing and Improving Path Planning Based on Lagrange Polynomial and Designing Method for Dynamic Obstacle Avoidance of an Autonomous Guided Vehicle. Bachelor thesis, Swiss German University.

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Abstract

The purpose of this thesis work is to analyse and improve the path planning based on Lagrange Polynomial and design a method for obstacle avoidance. The path planning is used on Automated Guided Vehicle which has been developed in SGU. The Lagrange Polynomial which that will be used are 2nd order and 3rd order. The form and the shape of the path will be tested and analysed to make an efficient path planning. The experiment will focus on the shape and execution of the path. The testing will be done using V-REP simulation which is also capable to simulate the scenario of obstacle avoidance. The result of the simulation will later be implemented in the AGV. The result of the experiment will be used as a base for improvement for path planning in the AGV.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Path Planning, Lagrange Polynomial, Obstacle Avoidance, Simulation
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152 Automobiles--Maintenance and repair > TL152.8 Automated vehicles U Military Science > U Military Science (General) > UG Military engineering. Air forces > UG615 Vehicles, Remotely piloted
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Faisal Ifzaldi
Date Deposited:	04 May 2021 15:27
Last Modified:	04 May 2021 15:27
URI:	http://repository.sgu.ac.id/id/eprint/1984

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