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Title Path Planning of Robots
Author Holdgaard-Thomsen, Jan
Supervisor Bolander, Thomas (Algorithms and Logic, Department of Informatics and Mathematical Modeling, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Institution Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark
Thesis level Master's thesis
Year 2010
Abstract Hospitals are ideal candidates for automation of transportation, as many items are transported daily from one location to another. The heavy load of transportation tasks requires a significant amount of manpower, and common tasks are mainly concerning transportation of trash, food, laundry, beds, samples, medical equipment, office supplies, mail etc. In this thesis, the aim was to analyse this situation in a large, and with a focus on path planning as the central theme of this thesis. The thesis covers a number of ways to characterize the path planning problem and the algorithms used to address it. The path planning strategy for a robot is a complex problem, it involves a wide range of subjects: complexity theory, mapping, path planning and more. The presented strategies are evaluated based of the requirements for a hospital environment like Bispebjerg Hospital. The thesis specifies the main problems and challenges that need to be considered when designing such systems.
Imprint Technical University of Denmark (DTU) : Kgs. Lyngby, Denmark
Series IMM-M.Sc.-2010-05
Original PDF ep10_05.pdf (0.88 MB)
Admin Creation date: 2010-03-08    Update date: 2010-10-28    Source: dtu    ID: 258988    Original MXD