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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

Planning multiple paths with evolutionary speciation

C. Hocaoglu, +1 more
- 01 Jun 2001 - 
TL;DR: A new approach to multidimensional path planning that is based on multiresolution path representation, where explicit configuration space computation is not required, and incorporates an evolutionary algorithm for solving the multimodal optimization problem, generating multiple alternative paths simultaneously is demonstrated.
Journal ArticleDOI

Collision free path planning of cooperative crane manipulators using genetic algorithm

M. S. Ajmal Deen Ali, +2 more
- 01 Apr 2005 - 
TL;DR: In this article, a new approach for automated path planning of cooperative crane manipulators using a genetic algorithm (GA) is presented, where the inverse kinematic problem is defined as an optimization problem and solved using GA, and the GA approach finds a near-optimal path with lower path cost and less computational time than earlier heuristic searches.
Book ChapterDOI

Needle Steering and Model-Based Trajectory Planning

Simon P. DiMaio, +1 more
TL;DR: A new concept of needle steering is developed and a Needle Manipulation Jacobian is defined using numerical needle insertion models that include needle deflection and soft tissue deformation to demonstrate needle tip placement and obstacle avoidance.
Journal ArticleDOI

An efficient dynamic system for real-time robot-path planning

Allan R. Willms, +1 more
TL;DR: This paper proves that the dynamic system converges in a small number of iterations to a state where the minimal distance to a target is recorded at each grid point and shows that this robot-path-planning algorithm can be made to always choose an optimal path.

Sampling-Based Motion Planning under Kinematic Loop-Closure Constraints.

Juan Cortés, +1 more
TL;DR: This paper describes the recent work on the extension of sampling-based planners to treat closed-chain mechanisms with complex and a priori unknown topology.