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Title: Robot motion planning using splines wavelets and image sampling
Researcher: Rajesh, Siddavatam
Guide(s): Mittal, R K
Keywords: Robot motion, splines, wavelets and image
University: Birla Institute of Technology and Science
Completed Date: 
Abstract: The robot motion planning problem is a highly challenging one dealt by many researchers all over the world since the advent of mobile robotics. A new method of motion planning for mobile robots on natural, non homogeneous rough terrain is addressed in this thesis. Terrain representation and terrain approximations for robots have gained lot of importance recently which is very essential so that the robot has the priori knowledge of the environment and is very useful for the safe motion planning required to reach from start point to the goal point. newline newlineDuring last decade, the wavelet transform has proven to be a valuable tool in wide range of applications. Multiresolution of an image, by hierarchically decomposition of functions using wavelets, is very effective for analyzing the information content and data compression. It allows any function to be described in terms of a coarse overall shape, plus details that range from broad to narrow. Regardless of whether the function of interest is an image, a curve, or a surface, wavelets provide an elegant technique for representation. newline newlineThe primary motivation for this work stems from the fact that there is need for a new spatial data sampling technique for images. The thesis presents a multiresolution terrain representation for robot motion planning using lifting scheme based on second generation wavelets. The lifting scheme has been found to be a flexible method for constructing scalar wavelets with desirable properties. Using Delaunay triangulation, Triangulated Irregular Network (TIN) that consists of x, y coordinate with gray scale of pixel is being generated. A new interpolation wavelet filter for TIN has been applied in two steps namely, predict and update. Delaunay triangulation and splines on the sets of irregular points are used to estimate average signal and difference signal (detail coefficients). The bivariate splines/B-splines are used to quantize the signal over Delaunay triangulation. newlineThe proposed methodology takes into consideration the multiresolution co
Pagination: xviii
Appears in Departments:Mechanical Engineering

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d-table of contents.docAttached File138 kBMicrosoft WordView/Open
h-chapter 1.doc68.5 kBMicrosoft WordView/Open
i-chapter 2.doc509 kBMicrosoft WordView/Open
j-chapter3.doc295 kBMicrosoft WordView/Open
k-chapter4.doc4.52 MBMicrosoft WordView/Open
l-chapter5.doc5.07 MBMicrosoft WordView/Open
m-chapter6.doc29 kBMicrosoft WordView/Open
o-scope for further work.doc23.5 kBMicrosoft WordView/Open
p-references.doc78 kBMicrosoft WordView/Open
q-appendix.doc1.33 MBMicrosoft WordView/Open

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