scispace - formally typeset
Open AccessBook

Robot Motion Planning

Jean-Claude Latombe
Reads0
Chats0
TLDR
This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.
Abstract: 
1 Introduction and Overview.- 2 Configuration Space of a Rigid Object.- 3 Obstacles in Configuration Space.- 4 Roadmap Methods.- 5 Exact Cell Decomposition.- 6 Approximate Cell Decomposition.- 7 Potential Field Methods.- 8 Multiple Moving Objects.- 9 Kinematic Constraints.- 10 Dealing with Uncertainty.- 11 Movable Objects.- Prospects.- Appendix A Basic Mathematics.- Appendix B Computational Complexity.- Appendix C Graph Searching.- Appendix D Sweep-Line Algorithm.- References.

read more

Citations
More filters
Proceedings ArticleDOI

Fast synthetic vision, memory, and learning models for virtual humans

James J. Kuffner, +1 more
TL;DR: This work combines a low level path planner, a path following controller and cyclic motion capture data to generate the underlying animation, and applies this framework to the problem of quickly synthesizing from navigation goals the collision-free motions for animated human figures in changing virtual environments.
Proceedings ArticleDOI

Virtual obstacle concept for local-minimum-recovery in potential-field based navigation

Liu Chengqing, +3 more
TL;DR: A navigation algorithm, which integrates a virtual obstacle concept with a potential-field-based method to manoeuvre cylindrical mobile robots in unknown or unstructured environments, is presented.
Dissertation

Safe Trajectory Planning of Autonomous Vehicles

Tom Schouwenaars
TL;DR: Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2006 as discussed by the authors, Section 5, Section 7, Section 2.
Proceedings Article

The complexity of the two dimensional curvature-constrained shortest-path problem

John H. Reif, +1 more
TL;DR: This paper shows that the 2D curvature constrained shortest-path problem in two dimensions is NP-hard, when the obstacles are polygons with a total of N vertices and the vertex positions are given withinO(N) bits of precision.
Proceedings ArticleDOI

RRT-blossom: RRT with a local flood-fill behavior

Maciej Kalisiak, +1 more
TL;DR: A new variation of the RRT planner is proposed which demonstrates good performance on both loosely-constrained and highly- Constrained environments, and an implicit flood-fill-like mechanism is proposed.