Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Lydia E. Kavraki,P. Svestka,Jean-Claude Latombe,Mark H. Overmars +3 more
- Vol. 12, Iss: 4, pp 566-580
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TLDR
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).Abstract:
A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. 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).read more
Citations
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Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing.
TL;DR: A knowledge sharing mechanism for multiple robots in which one robot can inform other robots about the changes in map, like path blockage, or new static obstacles, encountered at specific areas of the map, is proposed.
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Coordination of multiple AGVs: a quadratic optimization method
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Timothy Bretl,Sanjay Lall +1 more
TL;DR: This algorithm is an incremental method of projection, that computes only enough of the support polygon to decide whether static equilibrium is possible at each posture, that takes advantage of information gained testing previous postures in order to test subsequent postures more quickly.
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Extended rapidly exploring random tree–based dynamic path planning and replanning for mobile robots:
Devin Connell,Hung Manh La +1 more
TL;DR: A new method of dynamic replanning is proposed to allow the robot to efficiently plan a path in such complex environments and is extended to multi-robot scenarios in which the ability to share path planning and search tree information is valuable.
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Semi-automated map creation for fast deployment of AGV fleets in modern logistics
Patric Beinschob,Mark Meyer,Christoph Reinke,Valerio Digani,Cristian Secchi,Lorenzo Sabattini +5 more
TL;DR: An innovative methodology for obtaining, in a semi-automated manner, the map of an industrial environment where a system of multiple AGVs will be installed with less time and cost is proposed.
References
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Journal ArticleDOI
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