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
Stochastic Event Capture Using Mobile Sensors Subject to a Quality Metric
TL;DR: This paper considers the following event capture problem: the events of interest arrive at certain points in the sensor field and disappear according to known arrival and departure time distributions, and presents heuristic algorithms for the aforementioned motion planning problems and bound their performance with respect to the optimal.
Proceedings Article
A fast path planner for a car-like indoor mobile robot
TL;DR: A fast path planner for a car-like indoor mobile robot that can be modelled as a 2D object translating and rotating in the horizontal plane among well-defined obstacles that is one to two orders of magnitude faster than previously implemented planners for the same type of robot.
Journal ArticleDOI
Tutorial on computational complexity
TL;DR: Computational complexity measures how much work is required to solve different problems, and provides a useful classification tool for OR/MS practitioners, especially when tackling discrete deterministic problems.
Journal ArticleDOI
Combining 2d feature tracking and volume reconstruction for online video-based human motion capture
TL;DR: A system to capture human motion without the use of markers or scene-intruding devices is described, where a 2D feature tracking algorithm and a silhouette-based 3D volumetric scene reconstruction method are applied directly to the image data.
Journal ArticleDOI
Local path planning using a new artificial potential function composition and its analytical design guidelines
Dong Hun Kim,Seiichi Shin +1 more
TL;DR: A set of analytical guidelines for designing potential functions to avoid local minima for a number of representative scenarios based on the proposed framework for path planning show that the proposed scheme can effectively construct a path-planning system with the capability of reaching a goal and avoiding obstacles despite possibleLocal minima.