Discrete Path Planning for Convex Polyhedra through Edge-Rolling on a Plane
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-base...
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| Format: | Thesis |
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Curtin University
2022
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| Online Access: | http://hdl.handle.net/20.500.11937/89601 |
| _version_ | 1848765256904474624 |
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| author | Lam, Ngoc Tam |
| author_facet | Lam, Ngoc Tam |
| author_sort | Lam, Ngoc Tam |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T11:32:22Z |
| format | Thesis |
| id | curtin-20.500.11937-89601 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T11:32:22Z |
| publishDate | 2022 |
| publisher | Curtin University |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-896012025-01-15T03:10:12Z Discrete Path Planning for Convex Polyhedra through Edge-Rolling on a Plane Lam, Ngoc Tam 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. 2022 Thesis http://hdl.handle.net/20.500.11937/89601 Curtin University fulltext |
| spellingShingle | Lam, Ngoc Tam Discrete Path Planning for Convex Polyhedra through Edge-Rolling on a Plane |
| title | Discrete Path Planning for Convex Polyhedra through Edge-Rolling on a Plane |
| title_full | Discrete Path Planning for Convex Polyhedra through Edge-Rolling on a Plane |
| title_fullStr | Discrete Path Planning for Convex Polyhedra through Edge-Rolling on a Plane |
| title_full_unstemmed | Discrete Path Planning for Convex Polyhedra through Edge-Rolling on a Plane |
| title_short | Discrete Path Planning for Convex Polyhedra through Edge-Rolling on a Plane |
| title_sort | discrete path planning for convex polyhedra through edge-rolling on a plane |
| url | http://hdl.handle.net/20.500.11937/89601 |