Motion planning

About: Motion planning is a research topic. Over the lifetime, 32846 publications have been published within this topic receiving 553548 citations.

Cable suspended robots: design, planning and control

Abstract: Cable-suspended robots are structurally similar to parallel actuated robots, but with the fundamental difference that cables can only pull the end-effector but not push it. This feature makes the design, planning and control of cable-suspended robots a lot more challenging compared to their counterparts - parallel-actuated robots. This paper describes the kinematic and dynamic models, work-space, trajectory planning, and feedback controllers for these robots. These results are demonstrated through simulation and experiments on a six degree-of-freedom cable suspended robot.

Robot programming using augmented reality: An interactive method for planning collision-free paths

Abstract: Current robot programming approaches lack the intuitiveness required for quick and simple applications. As new robotic applications are being identified, there is a greater need to be able to programme robots safely and quickly. This paper discusses the use of an augmented reality (AR) environment for facilitating intuitive robot programming, and presents a novel methodology for planning collision-free paths for an n-d.o.f. (degree-of-freedom) manipulator in a 3D AR environment. The methodology is interactive because the human is involved in defining the free space or collision-free volume (CFV), and selecting the start and goal configurations. The methodology uses a heuristic beam search algorithm to generate the paths. A number of possible scenarios are discussed.

Path planning for autonomous vehicles using model predictive control

Abstract: Path planning for autonomous vehicles in dynamic environments is an important but challenging problem, due to the constraints of vehicle dynamics and existence of surrounding vehicles. Typical trajectories of vehicles involve different modes of maneuvers, including lane keeping, lane change, ramp merging, and intersection crossing. There exist prior arts using the rule-based high-level decision making approaches to decide the mode switching. Instead of using explicit rules, we propose a unified path planning approach using Model Predictive Control (MPC), which automatically decides the mode of maneuvers. To ensure safety, we model surrounding vehicles as polygons and develop a type of constraints in MPC to enforce the collision avoidance between the ego vehicle and surrounding vehicles. To achieve comfortable and natural maneuvers, we include a lane-associated potential field in the objective function of the MPC. We have simulated the proposed method in different test scenarios and the results demonstrate the effectiveness of the proposed approach in automatically generating reasonable maneuvers while guaranteeing the safety of the autonomous vehicle.

Optimal path planning in a constant wind with a bounded turning rate

Abstract: In this paper, we explore the problem of generating the optimal time path from an initial position and orientation to a flnal position and orientation in the two-dimensional plane for an aircraft with a bounded turning radius in the presence of a constant wind. Following the work of Boissonnat, we show using the Minimum Principle that the optimal path consists of periods of maximum turn rate or straight lines. We demonstrate, however, that unlike the no wind case, the optimal path can consist of three arcs where the length of the second arc is less than …. A method for generating the optimal path is also presented which iteratively solves the no wind case to intercept a moving virtual target. I. Introduction Optimal path planning is an important problem for robotics and unmanned vehicles. In this paper, we explore a method for flnding the shortest path from an initial position and orientation to a flnal position and and orientation in the two-dimensional plane for an aircraft with a bounded turning radius in the presence of a constant wind. This work was motivated by our group’s work with our ∞eet of small autonomous aircraft. Each modifled Sig Rascal aircraft ∞ies under the combined control of an ofi-the-shelf Piccolo avionics package for low level control and an onboard PC104 computer for higher level tasks. These aircraft ∞y at a nominal speed of 20 m/s, and wind speeds of over 5 m/s have been encountered during ∞ight testing. The problem described above was flrst solved in the case of no wind by Dubins using geometric arguments 8

On-line planning of time-optimal, jerk-limited trajectories

Abstract: Service robots which directly interact with humans in highly unstructured, unpredictable and dynamic environments must be able to flexibly adapt their motion in reaction to unforeseen events or obstacles and they must provide a new feasible trajectory in real-time. Hence, algorithms come into focus which replan the motion path and its time evolution from arbitrary initial conditions within milliseconds. We present a real-time algorithm to generate synchronised and time-optimal third-order manipulator trajectories complying maximal motion limits on velocity, acceleration and jerk. Experimental results carried out on a Mitsubishi PA10-7C arm are presented.