Open AccessBook
Robot Motion Planning
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
Journal ArticleDOI
Trajectory Planning for Autonomous Aerospace Vehicles amid Known Obstacles and Conflicts
Hong Iris Yang,Yiyuan Zhao +1 more
TL;DR: A discrete search strategy is presented for potential real-time generations of four-dimensional trajectories for a single autonomous aerospace vehicle amid known obstacles and conflicts and a heuristic function that approximates this performance index is developed for the A * search procedure.
Journal ArticleDOI
Real-Time Path Planning for Coordinated Transport of Multiple Particles Using Optical Tweezers
TL;DR: A decoupled and prioritized path planning approach by sequentially applying a partially observable Markov decision process algorithm on every particle that needs to be transported by using an iterative version of a maximum bipartite graph matching algorithm.
Journal ArticleDOI
Complete Path Planning for Closed Kinematic Chains with Spherical Joints
Jeff Trinkle,R. James Milgram +1 more
TL;DR: The global structural information obtained in this paper is fundamental to closed kinematic chains with spherical joints and can easily be incorporated into probabilistic planning algorithms that plan collision-free motions.
The Incremental Development of a Synthetic Multi-Agent System: The UvA Trilearn 2001 Robotic Soccer Simulation Team
Remco de Boer,Jelle R. Kok +1 more
TL;DR: The surface of the Black Sea has changed in recent years from being predominantly blue to brown in the winter to black in the summer, and the water quality has changed significantly in the last few years.
Journal ArticleDOI
Path planning of an agricultural mobile robot by neural network and genetic algorithm
Noboru Noguchi,Hideo Terao +1 more
TL;DR: An attempt to apply a control technique combining a neural network (NN) and a genetic algorithm (GA) to create a suboptimal path of an agricultural mobile robot.