Proceedings ArticleDOI
A real-time Clearance-Based approach for motion planning of mobile robots
M. Naderan Tahan,R. Iraji,M.T. Manzuri-Shalmani +2 more
- pp 394-401
TLDR
A new approach, called clearance-based probabilistic roadmap method (CBPRM(c), is proposed which in contrast to VV(c) method, visibility-Voronoi with clearance c, beside satisfaction of a predefined clearance is very efficient in running time, to be applicable in dynamic environments which require real-time approaches.Abstract:
In this paper, two different important quality metrics, clearance and execution time, for motion planning of mobile robots are studied. Then a new approach, called clearance-based probabilistic roadmap method (CBPRM(c)), is proposed which in contrast to VV(c) method, visibility-Voronoi with clearance c, beside satisfaction of a predefined clearance is very efficient in running time. This provides the CBPRM(c) to be applicable in dynamic environments which require real-time approaches. Experiments showed that the CBPRM(c) is able to generate paths with very low execution time considering determined clearance.read more
Citations
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Proceedings ArticleDOI
Efficient and safe path planning for a Mobile Robot using genetic algorithm
TL;DR: A new method for path planning using a genetic algorithm is proposed using a novel environment representation which allows a more efficient method for obstacles dilation in comparison to current cell based approaches that have a tradeoff between speed and accuracy.
Proceedings ArticleDOI
Planning a robust path for mobile robots in dynamic environment
TL;DR: A new method for mobile robot path planning in dynamic environment when the trajectories of obstacles are unknown is proposed and a light fitness function is proposed compare to other genetic algorithms to reduce the computation time needed for calculating and repairing path.
References
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Book
Robot Motion Planning
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.
Journal ArticleDOI
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
TL;DR: Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).
Proceedings ArticleDOI
Path planning using lazy PRM
Robert Bohlin,Lydia E. Kavraki +1 more
TL;DR: The overall theme of the algorithm, called Lazy PRM, is to minimize the number of collision checks performed during planning and hence minimize the running time of the planner.
Journal ArticleDOI
Manipulator control with superquadric artificial potential functions: theory and experiments
R. Volpe,Pradeep K. Khosla +1 more
TL;DR: A potential function based on superquadrics is presented that closely models a large class of object shapes and prevents the creation of local minima when it is added to spherically symmetric attractive wells.
Proceedings ArticleDOI
A two level fuzzy PRM for manipulation planning
TL;DR: An algorithm which extends the probabilistic roadmap (PRM) framework to handle manipulation planning by using a two level approach, a PRM of PRMs, made possible by the introduction of a new kind of roadmap, called the fuzzy roadmap.