Discrete Path Planning for Convex Polyhedra through Edge-Rolling on a Plane
dc.contributor.author | Lam, Ngoc Tam | |
dc.contributor.supervisor | Lei Cui | en_US |
dc.contributor.supervisor | Ian Howard | en_US |
dc.date.accessioned | 2022-11-04T02:50:02Z | |
dc.date.available | 2022-11-04T02:50:02Z | |
dc.date.issued | 2022 | en_US |
dc.identifier.uri | http://hdl.handle.net/20.500.11937/89601 | |
dc.description.abstract |
This thesis solved the path-planning problem of the Platonic solids and truncated icosahedron through edge-rolling on a plane with obstacle avoidance, which hitherto had not been solved. The BFS-based algorithm found the shortest paths for the Platonic solids on a prescribed plane while the RRT-based algorithm generated feasible paths with efficient tree exploration on a non-prescribed plane. The results can be readily applied to a variety of applications: path planning for general convex polyhedral, dexterous robotic in-hand manipulation, video games, and locomotion of polyhedral tensegrity robots. | en_US |
dc.publisher | Curtin University | en_US |
dc.title | Discrete Path Planning for Convex Polyhedra through Edge-Rolling on a Plane | en_US |
dc.type | Thesis | en_US |
dcterms.educationLevel | PhD | en_US |
curtin.department | School of Civil and Mechanical Engineering | en_US |
curtin.accessStatus | Fulltext not available | en_US |
curtin.faculty | Science and Engineering | en_US |
curtin.contributor.orcid | Lam, Ngoc Tam [0000-0001-6478-5802] | en_US |