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
Reads0
Chats0
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
More filters
Book ChapterDOI
Motion Planning for Humanoid Robots
James J. Kuffner,James J. Kuffner,Koichi Nishiwaki,Satoshi Kagami,Masayuki Inaba,Hirochika Inoue +5 more
TL;DR: An overview of some of the recent efforts to develop motion planning methods for humanoid robots for application tasks involving navigation, object grasping and manipulation, footstep placement, and dynamically-stable full-body motions is given.
Proceedings ArticleDOI
A probabilistic approach to optimal robust path planning with obstacles
TL;DR: The key idea behind the approach is that the probabilistic obstacle avoidance problem can be expressed as a disjunctive linear program using linear chance constraints, such that planning with uncertainty requires minimal additional computation.
Journal ArticleDOI
Principles and Overview of Sampling Methods for Modeling Macromolecular Structure and Dynamics
TL;DR: This review highlights state-of-the-art algorithmic techniques proposed to overcome challenges posed in silico by the disparate spatial and time scales accessed by dynamic macromolecules.
Proceedings ArticleDOI
Centralized path planning for multiple robots: Optimal decoupling into sequential plans
TL;DR: This work develops an algorithm to decouple a multi-robot path planning problem into subproblems whose solutions can be executed sequentially, and can decouple and solve path planning problems with many robots, even with incomplete external planners.
Proceedings ArticleDOI
An integrated approach to inverse kinematics and path planning for redundant manipulators
TL;DR: A novel solution to the problem of inverse kinematics for redundant robotic manipulators for the purposes of goal selection for path planning by unifying the calculation of the goal configuration with searching for a path in order to avoid the uncertainties inherent to selecting goal configurations.
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
An algorithm for planning collision-free paths among polyhedral obstacles
TL;DR: A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.
Journal ArticleDOI
Spatial Planning: A Configuration Space Approach
TL;DR: In this article, the authors propose an approach based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object.
Journal ArticleDOI
Exact robot navigation using artificial potential functions
Elon Rimon,Daniel E. Koditschek +1 more
TL;DR: A methodology for exact robot motion planning and control that unifies the purely kinematic path planning problem with the lower level feedback controller design is presented.
Book
Spatial planning: a configuration space approach
TL;DR: Algorithms for computing constraints on the position of an object due to the presence of ther objects, which arises in applications that require choosing how to arrange or how to move objects without collisions are presented.