Motion planning

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

Ship's Trajectory Planning for Collision Avoidance at Sea Based on Ant Colony Optimisation

Abstract: Swarm Intelligence (SI) constitutes a rapidly growing area of research. At the same time trajectory planning in a dynamic environment still constitutes a very challenging research problem. This paper presents a new approach to path planning in dynamic environments based on Ant Colony Optimisation (ACO). Assumptions, a concise description of the method developed and results of real navigational situations (case studies with comments) are included. The developed solution can be applied in decision support systems on board a ship or in an intelligent Obstacle Detection and Avoidance system, which constitutes a component of Unmanned Surface Vehicle (USV) Navigation, Guidance and Control systems.

The robotics review 1

Abstract: Part 1 Programming, planning, and learning: articles - motion planning in the presence of moving obstacles, Jean-Claude Latombe, minimal length curves and optimal paths, Jean-Daniel Boissonat, task level robot programming - on the HANDEY system, Jocelyne Pertin-Troccaz reviews - robot motion planning, Jean-Claude Latombe, John Canny, planar sliding with dry friction, Suresh Goyal, et al. Part 2 Sensing and perception: articles - touch sensing for robotic manipulation and recognition, Robert D. Howe and Mark R. Cutkosky, sensor planning for robotic vision - a review, Konstantinos (Dino) Tarabanis and Rober Y. Tsai, solving for 3-D model parameters from the locations of image features, David Lowe, modeling sonar sensors, Hugh F. Durrant-Whyte and John J. Leonard reviews - authenticating edges produced by zero-crossing algorithms, James J. Clark and Harlyn Baker a few steps toward artificial 3-D vision, Olivier D. Faugeras, W. Eric L. Grimson. Part 3 Kinematics and dynamics: articles - wrist singularities - theory and practice, Charles Wampler reviews - kinematic analysis and design of redundant manipulators, Joel W. Burdick and Vincent Hayward, singular configurations of parallel manipulators and Grassman geometry, Jean-Pierre Merlet and Jorge Angeles, a spatial operator algebra for manipulator modeling and control, G. Rodriquez, et al on the inverse kinematics of redundant manipulators, Daniel R. Baker, et al duality in mechanical properties of sequential and parallel manipulators, Vladimir Zamanov, et al. Part 4 Motion and force control: articles - time-optimal motions of robot manipulators including dynamics, Marc Renaud and J. Yves Fourquet, the state of the art of robot learning control using artificial neural networks - an overview, V.D. Sanchez A. and G. Hirzinger reviews - the application of model-referenced adaptive control to robotic manipulators, S. Dubowsky, et al is adaptive control necessary for manipulation robots, and if so, to what extent?, D. Stokic, et al. Part 5 Design, technology, and applications: articles - a comparative analysis of actuator technologies for robotics, John M. Hollerback, et al, microrobotics - shifting robotics technology toward a different scale world, Paolo Dario and Renzo Valleggi reviews - robotics in service, Joseph F. Engelberger and Russell H. Taylor.

Go with the flow : optimal AUV path planning in coastal environments

Abstract: This paper describes a novel optimum path planning strategy for long duration AUV operations in environments with time-varying ocean currents. These currents can exceed the maximum achievable speed of the AUV, as well as temporally expose obstacles. In contrast to most other path planning strategies, paths have to be defined in time as well as space. The solution described here exploits ocean currents to achieve mission goals with minimal energy expenditure, or a tradeoff between mission time and required energy. The proposed algorithm uses a parallel swarm search as a means to reduce the susceptibility to large local minima on the complex cost surface. The performance of the optimisation algorithms is evaluated in simulation and experimentally with the Starbug AUV using a validated ocean model of Brisbane’s Moreton Bay.

Dexterous manipulation through rolling

Abstract: Nonholonomic constraints in robotic systems are the source of some difficulties in planning and control; however, they also introduce interesting properties that can be practically exploited. In this paper we consider the design of a robot hand that achieves dexterity (i.e. the ability to arbitrarily locate and reorient manipulated objects) through rolling. Some interesting issues arising in planning and controlling motions of such device are considered, including exact planning for a spherical object and approximate planning for general objects. An experimental prototype of a three-plus-one degree of freedom hand achieving dexterous manipulation capabilities is described along with experimental results from manipulation.

Application of Dijkstra algorithm in robot path-planning

Abstract: In this paper, the robot is a maze robot. Dijkstra algorithm is used in the robot path planning. The shortest path is selected in the process of barrier. Simulation results prove the model valid; it can effectively solve the maze robot path planning.