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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Probabilistic roadmap method for path-planning in radioactive environment of nuclear facilities
Zhuang Wang,Jiejin Cai +1 more
TL;DR: The probabilistic roadmap method is applied to optimize the walking path, which is on the basis of the map model, collision detection technology and dose calculation method and has a good effect on path-planning in the radioactive environment of nuclear facilities.
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Elucidating the ensemble of functionally-relevant transitions in protein systems with a robotics-inspired method.
Kevin Molloy,Amarda Shehu +1 more
TL;DR: A robotics-inspired method that connects two given structures of a protein by sampling conformational paths, efficiently modeling structural deformations through the use of the molecular fragment replacement technique.
Journal ArticleDOI
Multimodal Trajectory Optimization for Motion Planning
TL;DR: A framework that determines multiple trajectories that correspond to the different modes of the cost function is proposed, which enables users to select a preferable solution from multiple candidate trajectories, thereby making it easier to tune thecost function and obtain a satisfactory solution.
Proceedings ArticleDOI
A comparative study between visibility-based roadmap path planning algorithms
Leena Lulu,Ashraf Elnagar +1 more
TL;DR: The proposed art gallery-based roadmap algorithm is robust and fast as it generally covers the whole CS/sub free/, based on the well-known art gallery theorem and efficiently seeks to construct a roadmap that contains the smallest possible number of nodes.
Journal ArticleDOI
Randomized Receding Horizon Navigation
TL;DR: It is shown that under certain conditions, relaxing the definiteness requirements on the terminal cost function allows one to select control inputs through a Monte-Carlo optimization scheme in a way that preserves the stability and convergence properties of the closed loop system.
References
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Robot Motion Planning
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Journal ArticleDOI
An algorithm for planning collision-free paths among polyhedral obstacles
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Journal ArticleDOI
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Elon Rimon,Daniel E. Koditschek +1 more
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