Abstract
Autonomous mobile robots are taking on more tasks in warehouses, speeding up operations and reducing accidents that claim many lives each year. This work proposes a dynamic path planning algorithm, based on A* search method for large autonomous mobile robots such as forklifts, and generates an optimized, time-efficient path. Simulation results of the proposed turn and orientation sensitive A* algorithm show that it has a 94% success rate of computing a better or similar path compared to that of default A*. The generated paths are smoother, have fewer turns, resulting in faster execution of tasks. The method also robustly handles unexpected obstacles in the path.
Library of Congress Subject Headings
Autonomous robots--Programming; Autonomous robots--Dynamics; Materials handling--Automation; Automated vehicles--Data processing
Publication Date
5-2020
Document Type
Thesis
Student Type
Graduate
Degree Name
Electrical Engineering (MS)
Department, Program, or Center
Electrical Engineering (KGCOE)
Advisor
Ferat Sahin
Advisor/Committee Member
Clark Hochgraf
Advisor/Committee Member
Jamison Heard
Recommended Citation
Ballamajalu, Rashmi, "Turn and Orientation Sensitive A* for Autonomous Vehicles in Intelligent Material Handling Systems" (2020). Thesis. Rochester Institute of Technology. Accessed from
https://repository.rit.edu/theses/10377
Campus
RIT – Main Campus
Plan Codes
EEEE-MS
