Open AccessProceedings Article
OBPRM: an obstacle-based PRM for 3D workspaces
Nancy M. Amato,O. Burchan Bayazit,Lucia K. Dale,Christopher Jones,Daniel Vallejo +4 more
- pp 155-168
TLDR
This paper presents a new class of randomized path planning methods, known as Probabilistic Roadmap Methods (prms), which use randomization to construct a graph of representative paths in C-space whose vertices correspond to collision-free con gurations of the robot.Abstract:
Recently, a new class of randomized path planning methods, known as Probabilistic Roadmap Methods (prms) have shown great potential for solving complicated high-dimensional problems. prms use randomization (usually during preprocessing) to construct a graph of representative paths in C-space (a roadmap) whose vertices correspond to collision-free con gurations of the robot and in which two vertices are connected by an edge if a path between the two corresponding con gurations can be found by a local planning method.read more
Citations
More filters
Proceedings ArticleDOI
Motion Planning in the Presence of Drift, Underactuation and Discrete System Changes
Andrew M. Ladd,Lydia E. Kavraki +1 more
TL;DR: This paper demonstrates a motion planning technique for the solution of problems with challenging characteristics of dynamical systems that are difficult for planning, and is first application of algorithmic motion planning to a problem of this type and complexity.
Proceedings ArticleDOI
Point-Based Minkowski Sum Boundary
TL;DR: This work proposes to represent the boundary of the Minkowski sum approximately using only points, and shows that this point-based representation can be generated efficiently and demonstrated to provide similar functionality as mesh-based representations can.
Randomized Path Planning for a Rigid Body Based on Hardware Accelerated Voronoi Sampling
TL;DR: These algorithms for sampling near the medial axis and building roadmap graphs for a freeying rigid body are presented and the resulting planner has been applied to a number of free rigid bodies and compared with the performance of earlier planners using a uniform sampling of the con guration space.
Proceedings ArticleDOI
Placing a robot manipulator amid obstacles for optimized execution
TL;DR: An efficient algorithm for optimizing the base location of a robot manipulator in an environment cluttered with obstacles, in order to execute specified tasks as fast as possible is presented.
Proceedings ArticleDOI
Motion planning for a rigid body using random networks on the medial axis of the free space
TL;DR: Details of the MAPRM algorithm are given, and it is shown that the retraction may be carried out without explicitly computing the C-obstacles or the medial axis, and the performance is compared to uniform random sampling from the free space.
References
More filters
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).
Journal ArticleDOI
Robot motion planning: a distributed representation approach
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.
Journal ArticleDOI
Gross motion planning—a survey
Yong K. Hwang,Narendra Ahuja +1 more
TL;DR: This paper surveys the work on gross-motion planning, including motion planners for point robots, rigid robots, and manipulators in stationary, time-varying, constrained, and movable-object environments.
Proceedings Article
Complexity of the Mover's Problem and Generalizations Extended Abstract
TL;DR: This paper concerns the problem of moving a polyhedron through Euclidean space while avoiding polyhedral obstacles.