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Kun Yue, "Navigation and adaptive mapping of partially known surroundings," Bachelor Thesis, Department of Computer Science, Friedrich–Alexander University of Erlangen–Nuremberg (FAU), July 2006. (Advisor: Falko Dressler)


A common task for mobile robots is to calculate and find a optimal path from a given start point to the goal point. By reason of the variable environment, a robot should have the ability to acquire the change and calculate a path online. In this thesis, some classic path-finding algorithms are discussed in the first instance. The advantages and benefits of the D* (dynamic A*) family - especially the D* Lite used in the implementation - are explained in detail and illustrated by example. The implementation is adapted for the robrain plugins-system of Robertino, the whole task is carried out by three plugins. A SVG-based map format is also introduced in the thesis. The three plugins work in collaboration with each other to read SVG maps, to save the change of the environment on a map, and to find a shortest path between two given points.

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Kun Yue

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    author = {Yue, Kun},
    title = {{Navigation and adaptive mapping of partially known surroundings}},
    advisor = {Dressler, Falko},
    institution = {Department of Computer Science},
    location = {Erlangen, Germany},
    month = {7},
    school = {Friedrich--Alexander University of Erlangen--Nuremberg (FAU)},
    type = {Bachelor Thesis},
    year = {2006},

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