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Proceedings ArticleDOI

A practical motion planner for all-terrain mobile robots

26 Jul 1993-Vol. 2, pp 1357-1363
TL;DR: The authors address the motion planning problem for wheeled vehicles moving on rough terrains by formalizing the placement problem for a rather complex locomotion system consisting of n wheels attached to the robot body by passive suspensions and presenting a planning method that computes a safe and feasible path between two given placements.
Abstract: The authors address the motion planning problem for wheeled vehicles moving on rough terrains. First, they formalize the placement problem for the case of a rather complex locomotion system consisting of n wheels attached to the robot body by passive suspensions. They next analyze the geometric and kinematic constraints acting on the placements of the robot. Finally, they present a planning method that computes a safe and feasible path between two given placements of the robot. The approach basically consists in searching a path into a graph built incrementally during the exploration of a discrete 3-D configuration space. The algorithms have been implemented, and simulation results are reported.
Citations
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Journal ArticleDOI
TL;DR: The dissertation presented in this article proposes Semantic 3D Object Models as a novel representation of the robot’s operating environment that satisfies these requirements and shows how these models can be automatically acquired from dense 3D range data.
Abstract: Environment models serve as important resources for an autonomous robot by providing it with the necessary task-relevant information about its habitat. Their use enables robots to perform their tasks more reliably, flexibly, and efficiently. As autonomous robotic platforms get more sophisticated manipulation capabilities, they also need more expressive and comprehensive environment models: for manipulation purposes their models have to include the objects present in the world, together with their position, form, and other aspects, as well as an interpretation of these objects with respect to the robot tasks. The dissertation presented in this article (Rusu, PhD thesis, 2009) proposes Semantic 3D Object Models as a novel representation of the robot’s operating environment that satisfies these requirements and shows how these models can be automatically acquired from dense 3D range data.

908 citations

Journal ArticleDOI
TL;DR: This review takes a step toward agglomerating the dispersed contributions from individual domains by elaborating on a number of key similarities as well as differences, in order to stimulate research in addressing the open challenges and inspire future developments.

221 citations


Cites background from "A practical motion planner for all-..."

  • ...In the same context, more complex vehicle models and suitable configuration space representations were considered in subsequent work (Simeon and Wright, 1993; Wright and Simeon, 1993)....

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Journal ArticleDOI
TL;DR: Some of the most unique aspects of the systems developed by the CMU PerceptOR team, the lessons learned during the effort, and the most immediate challenges that remain to be addressed are focused on.
Abstract: The DARPA PerceptOR program has implemented a rigorous evaluative test program which fosters the development of field relevant outdoor mobile robots. Autonomous ground vehicles were deployed on diverse test courses throughout the USA and quantitatively evaluated on such factors as autonomy level, waypoint acquisition, failure rate, speed, and communications bandwidth. Our efforts over the three year program have produced new approaches in planning, perception, localization, and control which have been driven by the quest for reliable operation in challenging environments. This paper focuses on some of the most unique aspects of the systems developed by the CMU PerceptOR team, the lessons learned during the effort, and the most immediate challenges that remain to be addressed.

210 citations


Cites methods from "A practical motion planner for all-..."

  • ...The fielded system consisted of all of the core hardware and software components than have existed on any similar previous system at CMU....

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Journal ArticleDOI
TL;DR: This work presents a practical approach to global motion planning and terrain assessment for ground robots in generic three‐dimensional environments, including rough outdoor terrain, multilevel facilities, and more complex geometries, using a novel, constraint‐aware trajectory optimization paradigm.
Abstract: We present a practical approach to global motion planning and terrain assessment for ground robots in generic three-dimensional 3D environments, including rough outdoor terrain, multilevel faciliti...

114 citations


Cites methods from "A practical motion planner for all-..."

  • ...Early efforts in this domain include the planner of Gaw & Meystel (1986) using an isolines-based map representation, the algorithms of Siméon & Dacre-Wright (1993) and Siméon (1993), and the approach of Shiller & Gwo (1991), modeling the terrain as cubic B patch and computing trajectories…...

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References
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Book
01 Jan 1990
TL;DR: This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.
Abstract: 1 Introduction and Overview.- 2 Configuration Space of a Rigid Object.- 3 Obstacles in Configuration Space.- 4 Roadmap Methods.- 5 Exact Cell Decomposition.- 6 Approximate Cell Decomposition.- 7 Potential Field Methods.- 8 Multiple Moving Objects.- 9 Kinematic Constraints.- 10 Dealing with Uncertainty.- 11 Movable Objects.- Prospects.- Appendix A Basic Mathematics.- Appendix B Computational Complexity.- Appendix C Graph Searching.- Appendix D Sweep-Line Algorithm.- References.

6,186 citations

Journal ArticleDOI
TL;DR: A new approach to robot path planning that consists of building and searching a graph connecting the local minima of a potential function defined over the robot's configuration space is proposed and a planner based on this approach has been implemented.
Abstract: We propose a new approach to robot path planning that consists of building and searching a graph connecting the local minima of a potential function defined over the robot's configuration space. A planner based on this approach has been implemented. This planner is consider ably faster than previous path planners and solves prob lems for robots with many more degrees of freedom (DOFs). The power of the planner derives both from the "good" properties of the potential function and from the efficiency of the techniques used to escape the local min ima of this function. The most powerful of these tech niques is a Monte Carlo technique that escapes local min ima by executing Brownian motions. The overall approach is made possible by the systematic use of distributed rep resentations (bitmaps) for the robot's work space and configuration space. We have experimented with the plan ner using several computer-simulated robots, including rigid objects with 3 DOFs (in 2D work space) and 6 DOFs (in 3D work space) and ...

1,097 citations

01 Jan 1989
TL;DR: In this paper, the authors present a planificateur utilisant une discretisation de l'espace des phases (configurations and vitesses) for planification de trajectoires de robots non holonomes.
Abstract: Les resultats de geometrie differentielle et de controle non lineaire sont utilises pour resoudre le probleme de decision lie a la planification de trajectoires de robots non holonomes. La preuve, non constructive, est completee par la presentation d'un planificateur utilisant une discretisation de l'espace des phases (configurations et vitesses).

227 citations

Proceedings ArticleDOI
13 May 1990
TL;DR: A path planner and an execution monitoring planner that will enable the rover to navigate to its various destinations safely and correctly while detecting and avoiding hazards are described, and an overview of the complete architecture is given.
Abstract: A path planner and an execution monitoring planner that will enable the rover to navigate to its various destinations safely and correctly while detecting and avoiding hazards are described. An overview of the complete architecture is given. Implementation and testbeds are described. The robot can detect unforeseen obstacles and take appropriate action. This includes having the rover back away from the hazard and mark the area as untraversable in the rover's internal map. The experiments have consisted of paths roughly 20 m in length. The architecture works with a large variety of rover configurations with different kinematic constraints. >

103 citations