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Showing papers on "Motion planning published in 1991"


Proceedings ArticleDOI
03 Nov 1991
TL;DR: Discusses a significant open problem in mobile robotics: simultaneous map building and localization, which the authors define as long-term globally referenced position estimation without a priori information.
Abstract: Discusses a significant open problem in mobile robotics: simultaneous map building and localization, which the authors define as long-term globally referenced position estimation without a priori information. This problem is difficult because of the following paradox: to move precisely, a mobile robot must have an accurate environment map; however, to build an accurate map, the mobile robot's sensing locations must be known precisely. In this way, simultaneous map building and localization can be seen to present a question of 'which came first, the chicken or the egg?' (The map or the motion?) When using ultrasonic sensing, to overcome this issue the authors equip the vehicle with multiple servo-mounted sonar sensors, to provide a means in which a subset of environment features can be precisely learned from the robot's initial location and subsequently tracked to provide precise positioning. >

898 citations


Proceedings ArticleDOI
09 Apr 1991
TL;DR: A preliminary study of the problem of the feedback control of mobile robots is presented, and it is shown that stabilization of the cart's configuration around the configuration of a virtual reference cart becomes possible as long as the reference cart keeps moving.
Abstract: A preliminary study of the problem of the feedback control of mobile robots is presented. The robot considered is a two-wheel-driven nonholonomic cart. Despite the controllability of the system, pure state feedback stabilization of the cart's configuration around a given terminal configuration is not possible. However, feedback stabilization of the position of any point of the cart is possible. Extension to the problem of trajectory tracking in Cartesian space is then considered, and it is shown that stabilization of the cart's configuration around the configuration of a virtual reference cart becomes possible as long as the reference cart keeps moving. Several simple control laws are proposed, and simulation results are given. Connections with the path planning problem are pointed out. >

451 citations


Proceedings ArticleDOI
09 Apr 1991
TL;DR: A general strategy for solving the motion planning problem for real analytic, controllable systems without drift is proposed, and an iterative algorithm is derived that converges very quickly to a solution.
Abstract: A general strategy for solving the motion planning problem for real analytic, controllable systems without drift is proposed. The procedure starts by computing a control that steers the given initial point to the desired target point for an extended system, in which a number of Lie brackets of the system vector fields are added. Using formal calculations with a product expansion relative to P. Hall basis, another control is produced that achieves the desired result on the formal level. This provides an exact solution of the original problem if the given system is nilpotent. For a general system, an iterative algorithm is derived that converges very quickly to a solution. For nonnilpotent systems which are feedback nilpotentizable, the algorithm, in cascade with a precompensator, produces an exact solution. Results of simulations which illustrate the effectiveness of the procedure are presented. >

284 citations


Journal ArticleDOI
01 Dec 1991
TL;DR: A method for computing the time-optimal motions of robotic manipulators is presented that considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles and is demonstrated in several examples for two- and six-degree-of-freedom manipulators with obstacles.
Abstract: A method for computing the time-optimal motions of robotic manipulators is presented that considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. The optimization problem is reduced to a search for the time-optimal path in the n-dimensional position space. A small set of near-optimal paths is first efficiently selected for a grid, using a branch and bound search and a series of lower bound estimates on the traveling time along a given path. These paths are further optimized with a local path optimization to yield the global optimal solution. Obstacles are considered by eliminating the collision points from the tessellated space and by adding a penalty function to the motion time in the local optimization. The computational efficiency of the method stems from the reduced dimensionality of the searched spaced and from combining the grid search with a local optimization. The method is demonstrated in several examples for two- and six-degree-of-freedom manipulators with obstacles. >

227 citations


Journal ArticleDOI
01 Feb 1991
TL;DR: A novel approach to cell decomposition based on constraint reformulation and a new algorithm for hierarchical search with a mechanism for recording failure conditions are introduced.
Abstract: The authors consider one of the most popular approaches to path planning: hierarchical approximate cell decomposition. This approach consists of constructing successive decompositions of the robot's configuration space into rectangloid cells and searching the connectivity graph built at each level of decomposition for a path. Despite its conceptual simplicity, an efficient implementation of this approach raises many delicate questions that have not yet been addressed. The major contributions this work are (1) a novel approach to cell decomposition based on constraint reformulation and (2) a new algorithm for hierarchical search with a mechanism for recording failure conditions. These algorithms have been implemented in a path planner, and experiments with this planner have been carried out on various examples. These experiments show that the proposed planner is significantly (approximately 10 times) faster than previous planners based on the same general approach. >

223 citations


Proceedings ArticleDOI
09 Apr 1991
TL;DR: It is shown that the well-known controllability rank condition theorem is applicable to nonholonomic multibody robots, even when there are inequality constraints on the velocity.
Abstract: It is shown that the well-known controllability rank condition theorem is applicable to nonholonomic multibody robots, even when there are inequality constraints on the velocity. This makes it possible to subsume and generalize several controllability results published in the robotics literature concerning nonholonomic mobile robots, and to infer new results. Also described is an implemented planner based on these results. Experimental results obtained with this planar are given. >

181 citations


Journal ArticleDOI
01 Jun 1991
TL;DR: Models and control strategies for dynamic obstacle avoidance in visual guidance of mobile robots and a stochastic motion-control algorithm based on a hidden Markov model are presented, which simplifies the control process of robot motion.
Abstract: Models and control strategies for dynamic obstacle avoidance in visual guidance of mobile robots are presented. Characteristics that distinguish the visual computation and motion control requirements in dynamic environments from that in static environments are discussed. Objectives of the vision and motion planning are formulated, such as finding a collision-free trajectory that takes account of any possible motions of obstacles in the local environments. Such a trajectory should be consistent with a global goal or plan of the motion and the robot should move at as high a speed as possible, subject to its kinematic constraints. A stochastic motion-control algorithm based on a hidden Markov model is developed. Obstacle motion prediction applies a probabilistic evaluation scheme. Motion planning of the robot implements a trajectory-guided parallel-search strategy in accordance with the obstacle motion prediction models. The approach simplifies the control process of robot motion. >

174 citations


Proceedings ArticleDOI
09 Apr 1991
TL;DR: In this article, a technique called the enhanced disturbance map (EDM) for planning space manipulator motions that will result in relatively low spacecraft disturbance is presented, which can aid in understanding this complex problem and in the development of algorithms to reduce disturbances, including ones that use manipulator redundancy to eliminate the disturbances.
Abstract: A technique, called the enhanced disturbance map, for planning space manipulator motions that will result in relatively low spacecraft disturbance is presented. Although a spacecraft's attitude control reaction jet can compensate for the dynamic disturbances imposed on the spacecraft by the manipulator's motions, reaction jet fuel is a limited resource. Excessive disturbances would limit the life of a system. The enhanced disturbance map can aid in understanding this complex problem and in the development of algorithms to reduce disturbances, including ones that use manipulator redundancy to eliminate the disturbances. >

166 citations


Book
14 Dec 1991
TL;DR: This study of robot motion planning in dynamic domains presents algorithms for generating motion in an environment that changes over time and can serve as a reference for those working on spatial reasoning and autonomous robotic systems.
Abstract: This study of robot motion planning in dynamic domains presents algorithms for generating motion in an environment that changes over time. Their computational costs are also analyzed. The ability to plan motion in a dynamic domain is of critical importance to an autonomous robotic system that must operate in the presence of moving obstacles or other robots. The most important feature of the book is the presentation of algorithmic solutions to geometric aspects of dynamic motion planning problems which are of fundamental importance in robotics. Topics discussed include planning in time-dependent environments, generation of time-minimal paths in three dimensions, and the co-ordination of multiple mobile agents. The book can serve as a reference for those working on spatial reasoning and autonomous robotic systems.

161 citations


Journal ArticleDOI
Gordon Wilfong1
TL;DR: This work considers the problem of finding collision-free motions in a changeable workspace and proposes algorithms that run inO(n3) time for the case where there is only one movable obstacle in a polygonal environment withn corners and the object to be moved and the obstacle are convex polygons of constant complexity.
Abstract: Most motion planning algorithms have dealt with motion in a static workspace, or more recently, with motion in a workspace that changes in a known manner. We consider the problem of finding collision-free motions in a changeable workspace. That is, we wish to find a motion for an object where the object is permitted to move some of the obstacles. In such a workspace, the final positions of the movable obstacles may or may not be part of the goal. In the case where the final positions of the obstacles are specified, the general problem is shown to be PSPACE-hard. In the case where the final positions of the obstacles are unspecified, the motion planning problem is shown to be NP-hard. Algorithms that run inO(n 3) time are presented for the case where there is only one movable obstacle in a polygonal environment withn corners and the object to be moved and the obstacle are convex polygons of constant complexity.

157 citations


Journal ArticleDOI
K. Kondo1
01 Jun 1991
TL;DR: A general and efficient method that uses a configuration space for planning a collision-free path among known stationary obstacles for an arbitrarily moving object with six degrees of freedom to avoid executing unnecessary collision detections is presented.
Abstract: A general and efficient method is presented that uses a configuration space for planning a collision-free path among known stationary obstacles for an arbitrarily moving object with six degrees of freedom. The basic approach is to restrict the free space concerning path planning and to avoid executing unnecessary collision detections. The six-dimensional configuration space is equally quantized into cells by placing a regular grid, and the cells concerning path planning are enumerated by simultaneously executing multiple search strategies. Search strategies of different characteristics are defined by assigning different values to the coefficients of heuristic functions. The efficiency of each search strategy is evaluated during free-space enumeration, and a more promising one is automatically selected and preferentially executed. The free-space cells are efficiently enumerated for an arbitrary moving object in all kinds of working environments. The implementation of this method on several examples that have different characteristics is discussed. >

Proceedings ArticleDOI
11 Dec 1991
TL;DR: In this article, the authors introduce a nilpotent form, called a chained form, for nonholonomic control systems, and give constructive conditions for the existence of a feedback transformation which puts the system into chained form.
Abstract: The authors introduce a nilpotent form, called a chained form, for nonholonomic control systems. For the case of a nonholonomic system with two inputs, they give constructive conditions for the existence of a feedback transformation which puts the system into chained form, and show how to steer the system between arbitrary states. Examples are presented for steering a car and a car with a trailer attached: other examples can be found in the areas of space robotics and multifingered robot hands. The present results also have applications in the area of nilpotentization of distributions of vector fields on R/sup n/. >

Journal ArticleDOI
01 Jun 1991
TL;DR: The planning problem for a mobile manipulator system that must perform a sequence of tasks defined by position, orientation, force, and moment vectors at the end-effector is considered and simulated annealing is proposed as a general solution method for obtaining near-optimal results.
Abstract: The planning problem for a mobile manipulator system that must perform a sequence of tasks defined by position, orientation, force, and moment vectors at the end-effector is considered. Each task can be performed in multiple configurations due to the redundancy introduced by mobility. The planning problem is formulated as an optimization problem in which the decision variables for mobility (base position) are separated from the manipulator joint angles in the cost function. The resulting numerical problem is nonlinear with nonconvex, unconnected feasible regions in the decision space. Simulated annealing is proposed as a general solution method for obtaining near-optimal results. The problem formulation and numerical solution by simulated annealing are illustrated for a manipulator system with three degrees of freedom mounted on a base with two degrees of freedom. The results are compared with results obtained by conventional nonlinear programming techniques customized for the particular example system. >

Proceedings Article
01 Feb 1991
TL;DR: The problem is shown to be a constrained instance of the coordinated motion planning problem for multiple moving bodies, and the constraints are related to the placement and the motion of objects, and can be expressed geometrically.
Abstract: This paper presents a new geometrical formulation of the manipulation task planning problem in robotics. The problem is shown to be a constrained instance of the coordinated motion planning problem for multiple moving bodies. The constraints are related to the placement and the motion of objects, and can be expressed geometrically. We give a general paradigm for building Manipulation Task Planners based on the proposed formulation. A manipulation task appears as a path in the configuration space of the robot and all movable objects. A {\em manipulation path} is a sequence of constrained paths: {\em transit-paths}, where the robot moves "alone'', and {\em transfer-paths}, where the robot holds an object. The approach consists in building a {\em Manipulation Graph} that models the connectivity between certain regions in the global configuration space by transit-paths and transfer-paths. This approach is then applied to the case of a finite number of object placements and grasps. The nodes in the Manipulation Graph correspond to well identified configurations and the edges correspond to paths built from a series of configuration space slices. An implemented system is presented and discussed.

Proceedings ArticleDOI
09 Apr 1991
TL;DR: The coordinated control of space manipulators and their spacecraft is investigated, and a transposed-Jacobian type controller with inertial feedback is developed.
Abstract: The coordinated control of space manipulators and their spacecraft is investigated. The dynamics of free-flying space robotic systems are written compactly as functions of the system barycentric vectors. A control technique is developed that includes requirements on a spacecraft's position and orientation as well as on its manipulator. This control scheme has the double advantage of allowing a system's motion to be planned to avoid impacts with is environment, and of maintaining a favorable manipulator configuration during the end-effector's motion. In addition, since a system's spacecraft can be moved, the workspace of its manipulator becomes unlimited. A transposed-Jacobian type controller with inertial feedback is developed, and an example is used to demonstrate this technique. >

Journal ArticleDOI
TL;DR: In this paper, a multi-term distribution system expansion planning method is proposed, where a n-years planning problem is decomposed into n one-year planning problems, and results are coordinated through what can be called the forward/backward path.
Abstract: A multi-term distribution system expansion planning method is proposed. Many mathematical programming approaches have been proposed in this area. However, because of the complexity of the problem or the limitations of a computational time and memory size, these methods can only be applied to a small-scale system. To solve large-scale problems, the authors propose a new decomposition algorithm based on the branch exchange method. A n-years planning problem is decomposed into n one-year planning problems, and one-year results are coordinated through what can be called the forward/backward path. The validity and effectiveness of the algorithm are ascertained by applying it to real-scale numerical examples. >

Journal ArticleDOI
01 Jul 1991
TL;DR: A Petri net model of the coordination level of an intelligent mobile robot system (IMRS) is presented to specify the integration of the individual efforts on path planning, supervisory motion control, and vision system that are necessary for the autonomous operation of a mobile robot in a structured dynamic environment.
Abstract: A Petri net model of the coordination level of an intelligent mobile robot system (IMRS) is presented. The purpose of this model is to specify the integration of the individual efforts on path planning, supervisory motion control, and vision system that are necessary for the autonomous operation of a mobile robot in a structured dynamic environment. This is achieved by analytically modeling the various units of the system as Petri net transducers and explicitly representing the task precedence and information dependence among them. The model can be used to simulate the task processing and evaluate the efficiency of operations and the responsibility of decisions in the coordination level of the intelligent mobile robot system. Some simulation results of the task processing and learning are presented. >

Proceedings ArticleDOI
03 Nov 1991
TL;DR: The analysis of the proposed algorithm shows its efficiency in terms of computation ability, safety, optimality, and in supporting robot navigation along the generated path.
Abstract: A technique is developed based on free link concept to construct the available free space between obstacles within robot's environment in terms of free convex area. Then, a new kind of vertex graph called MAKLINK is constructed to support the generation of a collision free path. This graph is constructed using the midpoints of common free links between free convex area as passing points. These points correspond to nodes in a graph and the connection between them within each convex area as arcs in this graph. A collision free path can be efficiently generated using the MAKLINK graph. The complexity of the search for a collision free path is greatly reduced by minimizing the size of the graph to be searched concerning the number of nodes and the number of arcs connecting them. The analysis of the proposed algorithm shows its efficiency in terms of computation ability, safety, optimality, and in supporting robot navigation along the generated path. >

Proceedings Article
01 Feb 1991
TL;DR: A hydraulically powered, cam controlled means for actuating the turret slide of an automatic turret lathe including a valve actuator which translates any input motion received from the cam into endwise motion of the control valve spool regardless of the direction from which this motion is received, thereby making unlimited cam steepness possible.
Abstract: A hydraulically powered, cam controlled means for actuating the turret slide of an automatic turret lathe including a valve actuator, which translates any input motion received from the cam into endwise motion of the control valve spool regardless of the direction from which this motion is received, thereby making unlimited cam steepness possible, so that it becomes now possible to obtain any desired speed for the rapid advance, rapid return as well as for the feed motion of the turret slide, all positively controlled by the cam.

Book ChapterDOI
16 Sep 1991
TL;DR: It is shown that the path planning problem can be expressed as an optimization problem and thus solved with a genetic algorithm and made possible by using the selected genetic algorithm on a massively parallel machine.
Abstract: We present an ongoing research work on robot motion planning using genetic algorithms. Our goal is to use this technique to build fast motion planners for robot with six or more degree of freedom. After a short review of the existing methods, we will introduce the genetic algorithms by showing how they can be used to solve the invers kinematic problem. In the second part of the paper, we show that the path planning problem can be expressed as an optimization problem and thus solved with a genetic algorithm. We illustrate the approach by building a path planner for a planar arm with two degree of freedom, then we demonstrate the validity of the method by planning paths for an holonomic mobile robot. Finally we describe an implementation of the selected genetic algorithm on a massively parallel machine and show that fast planning response is made possible by using this approach.

Proceedings ArticleDOI
09 Apr 1991
TL;DR: An efficient heuristic algorithm is presented that uses a generate-and-test paradigm: a good candidate path is hypothesized by a global planner and subsequently verified by a local planner, and a technique for modeling object interactions through contact is presented.
Abstract: Path planning among movable obstacles is a practical problem that is in need of a solution. An efficient heuristic algorithm is presented that uses a generate-and-test paradigm: a good candidate path is hypothesized by a global planner and subsequently verified by a local planner. In the process of formalizing the problem, a technique for modeling object interactions through contact is presented. The algorithm has been tested on a variety of examples, and was able to generate solutions within 10 s on a 17-MIPS Sun Sparc workstation. >

Proceedings ArticleDOI
19 Jun 1991
TL;DR: In this article, the authors investigate a path planning approach that consists of concurrently building and searching a graph connecting the local minima of a numerical potential field defined over the robot's configuration space.
Abstract: The authors investigate a path planning approach that consists of concurrently building and searching a graph connecting the local minima of a numerical potential field defined over the robot's configuration space. They describe techniques for constructing 'good' potentials and efficient methods for dealing with the local minima of these functions. These techniques have been implemented in fast planners that can deal with single and/or multiple robot systems with few and/or many degrees of freedom. Some experimental results with these planners are described. >

Proceedings ArticleDOI
03 Nov 1991
TL;DR: The basic concept and strategy for path planning in a dynamically changing environment with multiple autonomous mobile robots are introduced and a method for collision avoidance based on rules and negotiation by communication is presented.
Abstract: An autonomous and decentralized robot system, ACTRESS, is being developed as an intelligent robot system which is composed of multiple robotic agents. The basic concept and strategy for path planning in a dynamically changing environment with multiple autonomous mobile robots are introduced. Collision avoidance with dynamic path planning according to the complexity of the situations is also discussed. A method for collision avoidance based on rules and negotiation by communication is presented. Finally, this method is applied to a developed prototype system consisting of two mobile robots, and the result of experiments operating on real robots is given. >

Proceedings ArticleDOI
09 Apr 1991
TL;DR: A fast, parallel method for computing configuration space maps is presented, made possible by recognizing that one can compute a family of primitive maps which can be combined by superposition based on the distribution of real obstacles.
Abstract: A fast, parallel method for computing configuration space maps is presented. The method is made possible by recognizing that one can compute a family of primitive maps which can be combined by superposition based on the distribution of real obstacles. This motion planner has been implemented for the first three degrees-of-freedom of a Puma robot in *Lisp on a Connection Machine with 8 K processors. A six degree-of-freedom version of the algorithm which performs a sequential search of the six-dimensional configuration space, building three-dimensional cross sections in parallel, has also been implemented. >

Proceedings ArticleDOI
S. Ishikawa1
03 Nov 1991
TL;DR: A sensor-based navigation method using fuzzy control, whose purpose is to construct expert knowledge for efficient and better piloting of the AMRs, is presented and the effectiveness of the established rules and the effect of fuzzy control on AMR navigation are discussed on the basis of simulations.
Abstract: In the design of an autonomous mobile robot (AMR), it is necessary to describe schemes of monitoring the status of the robot and suitable procedures of handling various situations. this paper presents a sensor-based navigation method using fuzzy control, whose purpose is to construct expert knowledge for efficient and better piloting of the AMRs. This method provides a function for tracing a planned path by sensing the distance of an AMR from its planned path and the difference between its angle and that of the planned path, and another function that allows an AMR to avoid stationary and moving obstacles by sensing how far an open area extends ahead of it. Fuzzy control is also used to select suitable rules for tracing a path or avoiding obstacles according to the situation, which is determined from sensor information by using fuzzy control. The effectiveness of the established rules and the effect of fuzzy control on AMR navigation are discussed on the basis of simulations. >

Proceedings ArticleDOI
09 Apr 1991
TL;DR: The concept of ACTRESS is introduced, and the communication framework between robotic agents that compose the robot system is proposed, and an algorithm for static path planning and a strategy for dynamic path planning are proposed.
Abstract: An autonomous and decentralized robot system, ACTRESS, is being developed as an intelligent robot system which can execute high level tasks. The concept of ACTRESS is introduced, and the communication framework between robotic agents that compose the robot system is proposed. Taking a task of pushing objects by multiple mobile robots in a certain working environment as a case study of ACTRESS, the strategy for organizing the robot system is discussed, and the required functions for the robot system are introduced. The optimal distribution of the functions is designed based on communication evaluation. An algorithm for static path planning and a strategy for dynamic path planning are proposed. >

Proceedings Article
14 Jul 1991
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.
Abstract: A car-like indoor mobile robot is a kinematically constrained robot that can be modelled as a 2D object translating and rotating in the horizontal plane among well-defined obstacles. The kinematic constraints impose that the linear velocity of the robot point along its main axis (no sidewise motion is possible) and restrict the range of admissible values for the steering angle. In this paperl we describe a fast path planner for such a robot. This planner is one to two orders of magnitude faster than previously implemented planners for the same type of robot. In addition, it has an anytime flavor that allows it to return a path in a short amount of time, and to improve that path through iterative optimization according to the amount of time that is devoted to path planning. The planner is essentially a combination of preexisting ideas. Its efficiency derives from the good match between these ideas and from various technical improvements brought to them.

BookDOI
01 Jan 1991
TL;DR: Some Aspects of an Architecture for Real-Time Expert Systems in Industrial Plant Automation and Supervision and Rule-Based Modelling of Dynamical Systems and Multi-Sensory Signal Fusion are considered.
Abstract: 1. Survey Papers.- Review and Future of Adaptive Control Systems.- Expert Systems and Their Applications: A Survey.- Fibre Optic Communication Systems in Industrial Automation.- Route Optimization Algorithms for Expert Systems.- 2. Dynamic Systems.- Enclosure Methods and Their Applications in Control Theory.- Improved Computation of Balancing Transformations for Model Reduction of Minimal Systems.- Adaptive Control of Linear Plants With Unknown High-Frequency Gain.- Design of a Full-Order Observer and its Minimal-Order Version for a One-Link Flexible Robot Arm.- 3. Model Building and System Simulation.- Modelling and Simulation of Non-Isothermal Processes for the Reduction, Precipitation and Characterization of Metal Phases in Zeolites.- Dynamics of Heterogeneously Catalyzed Oxydation Rections on Palladium Supported Catalysts.- Modelling and Simulation of the Methanation from Carbon Monoxide-Rich Synthesis Gas.- On Parameter Estimation of Ecosystem Models.- 4. Process Analysis and Control.- A Petri-Net-Based Tool for Computer-Aided Model Building, Simulation, and Analysis of Engineering Systems.- Control of Distributed Parameter Systems Using Pointwise Location of Sensors and Actuators.- On Modelling and Control of a Reactor for Pyrolysis.- Computer Coupled Laboratory Reactor for the Study of Temperature Profile Dynamics.- 5. Expert Systems.- Some Aspects of an Architecture for Real-Time Expert Systems in Industrial Plant Automation and Supervision.- Rule-Based Modelling of Dynamical Systems.- Multi-Sensory Signal Fusion.- 6. Intelligent Robots.- Goal Oriented Behaviour of Robots for Space Applications.- Basic Principles of Intelligent Task Planning for Autonomous Robot Systems.- Collision Free Motion Planning for Robot-Manipulators.

Proceedings ArticleDOI
09 Apr 1991
TL;DR: An implemented system for designing pipe layouts automatically using robot path planning techniques is described, and a basic pipe router is extended to make it capable of treating a variety of other constraints which are typical of practical pipe layout design problems.
Abstract: An implemented system for designing pipe layouts automatically using robot path planning techniques is described. The authors introduce a new approach to pipe layout design automation in which pipe routes are treated as paths left behind by rigid objects (robots). They have implemented this approach in a basic pipe router, which is also described, and have extended this router in order to make it capable of treating a variety of other constraints which are typical of practical pipe layout design problems. These constraints relate to the process carried out in the pipes, to the design of their mechanical support, and to the constructability and the ease of operation and maintenance of the designed pipe systems. >

Proceedings ArticleDOI
03 Nov 1991
TL;DR: The authors present a fast and exact planner based upon recursive subdivisions of a collision-free path generated by a lower-level geometric planner which ignores the motion constraints.
Abstract: Deals with the problem of motion planning for a car-like robot (i.e. a nonholonomic mobile robot whose turning radius is lower bounded). The authors present a fast and exact planner based upon recursive subdivisions of a collision-free path generated by a lower-level geometric planner which ignores the motion constraints. The resultant trajectory is optimized to give a path which is of near-minimal length in its homotopy class. The claims of high speed are supported by experimental results for several implementations which assume different geometric models of the robot. >