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Robot Motion Planning

Jean-Claude Latombe
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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.

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Journal ArticleDOI

Path planning using a tangent graph for mobile robots among polygonal and curved obstacles

Yunhui Liu, +1 more
- 01 Aug 1992 - 
TL;DR: A tangent graph for path planning of mobile robots among obstacles with a general boundary is proposed, which has the same data structure as the visibility graph but its nodes represent common tangent points on obstacle boundaries, and its edges correspond to collision-free common tangents between the boundaries.
Proceedings ArticleDOI

Adapting probabilistic roadmaps to handle uncertain maps

P.E. Missiuro, +1 more
TL;DR: An extension of the probabilistic roadmap algorithm that computes motion plans that are robust to uncertain maps is proposed that generates less collision-prone trajectories with fewer samples than the standard method.
Journal ArticleDOI

Multi-agent robot systems as distributed autonomous systems

Jun Ota
- 01 Jan 2006 - 
TL;DR: This study investigates the current trends and the potentials for multi-agent robot systems, such as multi-robot motion-planning algorithms and exploration algorithms of multiple robots.
Journal ArticleDOI

Visual motion planning for mobile robots

Hong Zhang, +1 more
TL;DR: This paper presents a novel framework for image-based motion planning, which is analogous to visual servo control, and provides a "virtual" trajectory in the image plane for the robot to track with standard visual servoing techniques.
Journal ArticleDOI

A complete navigation system for goal acquisition in unknown environments

Anthony Stentz, +1 more
- 01 Jun 1995 - 
TL;DR: This work has developed a complete system that integrates local and global navigation that was tested on a real robot and successfully drove it 1.4 kilometers to find a goal given no a priori map of the environment.