Topic
Motion planning
About: Motion planning is a research topic. Over the lifetime, 32846 publications have been published within this topic receiving 553548 citations.
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20 Apr 1997
TL;DR: A method combining planning and reactive control for car-like nonholonomic mobile robots is discussed, and a flexible feasible trajectory is constructed based on the elastic band concepts which satisfies the robot kinematics constraints.
Abstract: A method combining planning and reactive control for car-like nonholonomic mobile robots is discussed. Firstly, a "bubble" for a car-like mobile robot is defined as the locally reachable space from a given configuration considering the obstacles and using the appropriate metric. Then a flexible feasible trajectory, based on the elastic band concepts, is constructed. This trajectory is smoothed using Bezier curves satisfying a minimum curvature constraint, and a parameterization is proposed which satisfies the robot kinematics constraints.
163 citations
14 May 1989
TL;DR: GAs are suitable for offline programming of a redundant robot in point-to-point positioning tasks and works with joint angles represented as digital values (not continuous real numbers), which is more representative for computer-controlled robot systems.
Abstract: Genetic algorithms, which are robust general-purpose optimization techniques, have been used to solve the inverse kinematics problem for redundant robots. A genetic algorithm (GA) was used to position a robot at a target location while minimizing the largest joint displacement from the initial position. As currently implemented, GAs are suitable for offline programming of a redundant robot in point-to-point positioning tasks. The GA solution needs only the forward kinematic equations (which are easily developed) and does not require any artificial constraints on the joint angles. The joint rotation limits which are present in any feasible robot design are handled directly; so any solution determined by the GA is physically realizable. Finally, the GA works with joint angles represented as digital values (not continuous real numbers), which is more representative for computer-controlled robot systems. >
163 citations
Patent•
28 Jun 1999
TL;DR: In this article, the authors propose an approach to reduce the search space by establishing a partial visibility graph of terrain and avoiding details of the terrain, which do not influence the choice of flight path, independent of the size of the navigation space.
Abstract: A number of navigation functions are performed on terrain navigation space. One function is to define a dynamic dangerous zone based on flight altitude by locating and aggregating, a set of nodes of terrain height over a minimum flight altitude. Algorithms such as collision check, mountainous area boundary and region growing technique are developed as basic operations for this terrain model. In addition a visibility graph approach for dynamic route selection may adapted to reduce the real-time computational requirements. This approach reduces the size of the search space by establishing a partial visibility graph of terrain and avoids details of the terrain, which do not influence the choice of flight path, independent of the size of the navigation space. By exploiting the multiple and variable resolution properties of Oct-tree terrain models, a series of CFIT warning functions using terrain data as reference are implemented efficiently with existing-on-board terrain data resources.
163 citations
Book•
20 Jul 2014
TL;DR: In this article, the authors present the notions of approximation and their application to the motion planning problem for nonholonomic systems, which are control systems which depend linearly on the control their underlying geometry is the sub-Riemannian geometry.
Abstract: Nonholonomic systems are control systems which depend linearly on the control Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems
162 citations
TL;DR: The proposed algorithm brings a new solution to the problem and has several advantages compared to previous methods and is very promising for application in mobile and industrial robotics where obstacle avoidance is a feature of the robotic system.
162 citations