| dc.contributor.advisor | Gravdahl, Jan Tommy | nb_NO |
| dc.contributor.author | Derouiche, Saber | nb_NO |
| dc.date.accessioned | 2014-12-19T14:07:14Z | |
| dc.date.available | 2014-12-19T14:07:14Z | |
| dc.date.created | 2013-09-09 | nb_NO |
| dc.date.issued | 2013 | nb_NO |
| dc.identifier | 646715 | nb_NO |
| dc.identifier | ntnudaim:8903 | nb_NO |
| dc.identifier.uri | http://hdl.handle.net/11250/260929 | |
| dc.description.abstract | In this paper a trajectory planner for a 3D obstacle avoidance problem was researched and implemented. The resulting choice was based on results gathered from implementing a Genetic algorithm on a simplified 2D problem in the project leading up to, and included in, this paper. The use of a Genetic Algorithms was chosen on the merits of good adaptability to a wide range of problems, solution effectiveness and solving speed for complex problems. The 2D problem tested the effectiveness of a Genetic Algorithm in continuous space and its Pathfinding abilities. The tested 2D algorithm was expanded to a 3D environment and implemented on a specific robot manipulator, the Universal Robot 5. The generated paths are presented and the main design principles introduced and discussed. | nb_NO |
| dc.language | eng | nb_NO |
| dc.publisher | Institutt for teknisk kybernetikk | nb_NO |
| dc.title | Pathfinding with Obstacle Avoidance using a Genetic Algorithm | nb_NO |
| dc.type | Master thesis | nb_NO |
| dc.source.pagenumber | 74 | nb_NO |
| dc.contributor.department | Norges teknisk-naturvitenskapelige universitet, Fakultet for informasjonsteknologi, matematikk og elektroteknikk, Institutt for teknisk kybernetikk | nb_NO |
