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Abstract planning for rigid body robots which must be solved before a robot can perfom1real-world tasks such as mine searching and processing. This thesis addresses the problem of safely navigating an autonomous robot through free space of a two dimensional static world model with polygonal obstacles, from a start configuration (position I orientation) to a goal configuration, using smooth motion under the structure of path_class-based motion planning (PCMP) approach. The approach divides the motion planning problem of a rigid body robot into two main sub-problems: The first problem is finding a global path defined by it’s bounding obstacles, and the second problem is how to plan a local motion from the start configuration, using the aforementioned global path. This work implements the first problem, and illustrates how the technique simplifies dealing with the second problem. The approach is particularly or advantages in terms of symbolically represents the free space into finite set of path classes and readily adaptable for optimizing choice of path class, and the proposed system has been successfully tested. |