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
Proceedings ArticleDOI
Controlling Swarms of Robots Using Interpolated Implicit Functions
TL;DR: This work addresses the synthesis of controllers for large groups of robots and sensors, tackling the specific problem of controlling a swarm of robots to generate patterns specified by implicit functions of the form s(x, y) = 0.
Journal ArticleDOI
A virtual structure approach to formation control of unicycle mobile robots using mutual coupling
Anna Sadowska,van den Tha Thijs Broek,Hjc Henri Huijberts,van de N Nathan Wouw,Dragan Kostic,Henk Nijmeijer +5 more
TL;DR: The rationale behind the introduction of the coupling terms is the fact that these introduce additional robustness of the formation with respect to perturbations as compared to typical leader–follower approaches.
Journal ArticleDOI
Modified Newton's method applied to potential field-based navigation for mobile robots
TL;DR: The use of the modified Newton's method, which applies anywhere C/sub 2/ continuous navigation functions are defined, greatly improves system performance when compared to the standard gradient descent approach.
Journal ArticleDOI
Planning the motions of a mobile robot in a sensory uncertainty field
TL;DR: This paper describes in detail the computation of a specific SUF for a mobile robot equipped with a classical line-striping camera/laser range sensor and presents an implemented SUF-based motion planner for this robot and shows paths generated by this planner.
Proceedings Article
Multiple path coordination for mobile robots: a geometric algorithm
TL;DR: This paper presents a geometric based approach for multiple mobile robot motion coordination based on a bounding box representation of the obstacles in the so-called coordination diagram that is resolution-complete.