Personal Robot: navigator in the lattice world

Abstract

This thesis describes the microscopic origin of the city as the infinite lattice world. Cities have their own structures. Some are criticized for having a physical layout that defines a hierarchy of dominant social groups. And some of the others are cherished by having so-called semilattice-like structures. But in a microscopic view of the city, these structures fade away, and the remaining is the infinitely distributed nodes. This thesis, “Personal Robot: navigator in the lattice world,” suggests methods of defining the lattice world using low-discrepancy sampling methods and hierarchical path planning for the robots to move around the lattice world. The golden ratio sequence is used to define the lattice world. And to generate the hierarchical path, the potential field, which is used as a heuristic function by a search algorithm, is applied to the lattice field. And by order of the hierarchy of the paths, each path adds costs to the actions that are connected to the generated path. At the end of this thesis, several cases of the application of this technology are introduced: a prototype of a 4-wheel robot, a mobile application that users can modify the potential field of the lattice world, and scenarios of imaginative city transportation.