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
Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph
Howie Choset,Joel W. Burdick +1 more
TL;DR: This paper defines the HGVG structure: a robot can plan a path between two locations in its work space or configuration space by simply planning a path onto the HNVG, then along the HCVG, and finally from theHGVG to the goal.
Journal ArticleDOI
Robust algorithm for real-time route planning
TL;DR: This work presents a novel route planning approach to generate mission-adaptable routes in an accurate and efficient manner that is able to take into account various mission constraints including: minimum route leg length, maximum turning angle, route distance constraint, and fixed approach vector to goal position.
Journal ArticleDOI
Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control
Alonzo Kelly,Bryan Nagy +1 more
TL;DR: In this paper, curvature polynomials of arbitrary order are used as the assumed form of solution and these quadratures are readily linearized to express the necessary conditions for optimality.
Journal ArticleDOI
Diagnosis of large active systems
TL;DR: This paper presents a modular technique, amenable to parallel implementation, for the diagnosis of large-scale, distributed, asynchronous event-driven (namely, active) systems, which allows a modular and parallel exploitation of the reconstruction process.
Proceedings ArticleDOI
A distributed and optimal motion planning approach for multiple mobile robots
Yi Guo,Lynne E. Parker +1 more
TL;DR: This work proposes a distributed and optimal motion planning algorithm for multiple robots that explicitly optimizes performance functions through a distributed implementation and is one of the few that is capable of handling outdoor rough terrain environments and real time replanning.