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
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Proceedings ArticleDOI
Increased visibility sampling for probabilistic roadmaps
TL;DR: New sampling strategies are proposed for the Probabilistic Roadmap technique that generate samples aiming at maximizing the sample visibility, which is tested for narrow corridor scenarios and is experimentally found to surpass all state-of-the-art sampling techniques of probabilistic roadmap.
Motion Planning for a Humanoid Walking in a 3D Space
Tsai-Yen Li,Pei-Zhi Huang +1 more
TL;DR: This paper describes a planner capable of generating humanoid motions in 3D space on stair-like terrains by taking the human foot length and personal preference into consideration and shows that the planner is efficient and can be used to generate real-time humanoid animations on stairly terrains.
Proceedings ArticleDOI
Motion planning for robot manipulators among moving obstacles based on trajectory analysis and waiting strategy
TL;DR: This paper introduces a method based on trajectory analysis and waiting strategy for robot manipulators in changing environments that would be employed twice in some situations, on the premise that whether an obstacle has automatic avoidance ability is known in advance.
Journal ArticleDOI
How to construct small probabilistic roadmaps with a good coverage
Mika T. Rantanen,Martti Juhola +1 more
TL;DR: A new neighborhood-based method that can reduce the size of the roadmaps by filtering out unnecessary nodes is proposed and experimentally test it against a basic probabilistic roadmap planner and a visibility-based planner.
An Optimal Two-Stage Path Planner
TL;DR: In this article, the authors integrated the Probabilistic Roadmap (PRM) planner with simulated annealing (SA) to constitute a two-stage path planner: at first a path is generated by PRM planner, then this original path is optimized by SA if the original path becomes infeasible because of environment changes, a feasible path can also be obtained from the original map by SA The simulations are carried out to verify the efficiency of the proposed planner.
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).
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.