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Author : Sunil Kumar Singh
Publisher :
ISBN 13 :
Total Pages : 354 pages
Book Rating : 4.E/5 ( download)
Download or read book Motion Planning with Obstacles and Dynamic Constraints written by Sunil Kumar Singh and published by . This book was released on 1988 with total page 354 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Kikuo Fujimura
Publisher : Springer Science & Business Media
ISBN 13 : 4431681655
Total Pages : 190 pages
Book Rating : 4.4/5 (316 download)
Download or read book Motion Planning in Dynamic Environments written by Kikuo Fujimura and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.
Author : Cherif Ahrikencheikh
Publisher : Wiley-Interscience
ISBN 13 :
Total Pages : 400 pages
Book Rating : 4.3/5 (91 download)
Download or read book Optimized-Motion Planning written by Cherif Ahrikencheikh and published by Wiley-Interscience. This book was released on 1994-10-14 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt: The first handbook to the practical specifics of motion planning, Optimized-Motion Planning offers design engineers methods and insights for solving real motion planning problems in a 3-dimensional space. Complete with a disk of software programs, this unique guide allows users to design, test, and implement possible solutions, useful in a host of contexts, especially tool path planning. Beginning with a brief overview of the general class of problems examined within the book as well as available solution techniques, Part 1 familiarizes the reader with the conceptual threads that underlie each approach. This early discussion also considers the specific applications of each technique as well as its computational efficiency. Part 2 illustrates basic problem-solving methodology by considering the case of a point moving between stationary polygons in a plane. This section features algorithms for data organization and storage, the concepts of passage networks and feasibility charts, as well as the path optimization algorithm. Elaborating on the problematic model described in Part 2, Part 3 develops an algorithm for optimizing the motion of a point between stationary polyhedra in a 3-dimensional space. This algorithm is first applied to the case of nonpoint objects moving between obstacles that can be stationary or moving with known patterns. It's then used in connection with the extensively investigated problem of motion planning for multilink manipulators.
Author : Paul Eric Jacobs
Publisher :
ISBN 13 :
Total Pages : 300 pages
Book Rating : 4.:/5 (7 download)
Download or read book Planning Robot Motion with Dynamic Constraints written by Paul Eric Jacobs and published by . This book was released on 1989 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 13 pages
Book Rating : 4.:/5 (227 download)
Download or read book Implementation and Experimentation with Motion Planning Algorithms written by and published by . This book was released on 1990 with total page 13 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main charter of this contract is the implementation and experimentation with motion planning algorithms that emphasize the exact combinatorial and purely geometric approach. Motion planning is considered to be one of the major research areas in robotics, and is one of the main stages in the design and implementation of autonomous intelligent systems, which is an important long-range goal in robotics research. Motion planning is one of the basic capabilities that such a system must possess. In purely geometric terms, the simplest version of the problem can be stated as follows. The system is given complete information about the geometry of the environment in which it is to operate (and of its own structure), and has to process it so that, when commanded to move from its current position to some target position, it can determine whether it can do so without colliding with any of the obstacles around it, and if so plan (and execute) such a motion. These are many variants of the problem. A few of those are: motion planning in environments that are only partially known to the system, compliant motion planning that allows contact with obstacles, which might be unavoidable due to measurement errors, optimal motion planning, motion planning with kino-dynamic constraints, and motion planning amidst moving obstacles. Still, even the simplest, static, and purely geometric version stated above is far from being simple, and poses serious challenges in the design of efficient and robust algorithms.
Author : Andrei M. Shkel
Publisher :
ISBN 13 :
Total Pages : 376 pages
Book Rating : 4.:/5 (89 download)
Download or read book Sensor-based Motion Planning with Kinematic and Dynamic Constraints written by Andrei M. Shkel and published by . This book was released on 1997 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Zexiang Li
Publisher : Springer Science & Business Media
ISBN 13 : 1461531764
Total Pages : 455 pages
Book Rating : 4.4/5 (615 download)
Download or read book Nonholonomic Motion Planning written by Zexiang Li and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 455 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians. Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.
Author : Steven M. LaValle
Publisher : Cambridge University Press
ISBN 13 : 9780521862059
Total Pages : 844 pages
Book Rating : 4.8/5 (62 download)
Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.
Author : Sung Hyun Kim
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (68 download)
Download or read book Multi-layer Approach to Motion Planning in Obstacle Rich Environment written by Sung Hyun Kim and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A widespread use of robotic technology in civilian and military applications has generated a need for advanced motion planning algorithms that are real-time implementable. These algorithms are required to navigate autonomous vehicles through obstacle-rich environments. This research has led to the development of the multilayer trajectory generation approach. It is built on the principle of separation of concerns, which partitions a given problem into multiple independent layers, and addresses complexity that is inherent at each level. We partition the motion planning algorithm into a roadmap layer and an optimal control layer. At the roadmap layer, elements of computational geometry are used to process the obstacle rich environment and generate feasible sets. These are used by the optimal control layer to generate trajectories while satisfying dynamics of the vehicle. The roadmap layer ignores the dynamics of the system, and the optimal control layer ignores the complexity of the environment, thus achieving a separation of concern. This decomposition enables computationally tractable methods to be developed for addressing motion planning in complex environments. The approach is applied in known and unknown environments. The methodology developed in this thesis has been successfully applied to a 6 DOF planar robotic testbed. Simulation results suggest that the planner can generate trajectories that navigate through obstacles while satisfying dynamical constraints.
Author : Xj Jing
Publisher : BoD – Books on Demand
ISBN 13 : 953761901X
Total Pages : 610 pages
Book Rating : 4.5/5 (376 download)
Download or read book Motion Planning written by Xj Jing and published by BoD – Books on Demand. This book was released on 2008-06-01 with total page 610 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, new results or developments from different research backgrounds and application fields are put together to provide a wide and useful viewpoint on these headed research problems mentioned above, focused on the motion planning problem of mobile ro-bots. These results cover a large range of the problems that are frequently encountered in the motion planning of mobile robots both in theoretical methods and practical applications including obstacle avoidance methods, navigation and localization techniques, environmental modelling or map building methods, and vision signal processing etc. Different methods such as potential fields, reactive behaviours, neural-fuzzy based methods, motion control methods and so on are studied. Through this book and its references, the reader will definitely be able to get a thorough overview on the current research results for this specific topic in robotics. The book is intended for the readers who are interested and active in the field of robotics and especially for those who want to study and develop their own methods in motion/path planning or control for an intelligent robotic system.
Author : Kevin M. Lynch
Publisher : Cambridge University Press
ISBN 13 : 1107156300
Total Pages : 545 pages
Book Rating : 4.1/5 (71 download)
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Author : Kristoffer Bergman
Publisher : Linköping University Electronic Press
ISBN 13 : 9176850579
Total Pages : 91 pages
Book Rating : 4.1/5 (768 download)
Download or read book On Motion Planning Using Numerical Optimal Control written by Kristoffer Bergman and published by Linköping University Electronic Press. This book was released on 2019-05-28 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decades, motion planning for autonomous systems has become an important area of research. The high interest is not the least due to the development of systems such as self-driving cars, unmanned aerial vehicles and robotic manipulators. In this thesis, the objective is not only to find feasible solutions to a motion planning problem, but solutions that also optimize some kind of performance measure. From a control perspective, the resulting problem is an instance of an optimal control problem. In this thesis, the focus is to further develop optimal control algorithms such that they be can used to obtain improved solutions to motion planning problems. This is achieved by combining ideas from automatic control, numerical optimization and robotics. First, a systematic approach for computing local solutions to motion planning problems in challenging environments is presented. The solutions are computed by combining homotopy methods and numerical optimal control techniques. The general principle is to define a homotopy that transforms, or preferably relaxes, the original problem to an easily solved problem. The approach is demonstrated in motion planning problems in 2D and 3D environments, where the presented method outperforms both a state-of-the-art numerical optimal control method based on standard initialization strategies and a state-of-the-art optimizing sampling-based planner based on random sampling. Second, a framework for automatically generating motion primitives for lattice-based motion planners is proposed. Given a family of systems, the user only needs to specify which principle types of motions that are relevant for the considered system family. Based on the selected principle motions and a selected system instance, the algorithm not only automatically optimizes the motions connecting pre-defined boundary conditions, but also simultaneously optimizes the terminal state constraints as well. In addition to handling static a priori known system parameters such as platform dimensions, the framework also allows for fast automatic re-optimization of motion primitives if the system parameters change while the system is in use. Furthermore, the proposed framework is extended to also allow for an optimization of discretization parameters, that are are used by the lattice-based motion planner to define a state-space discretization. This enables an optimized selection of these parameters for a specific system instance. Finally, a unified optimization-based path planning approach to efficiently compute locally optimal solutions to advanced path planning problems is presented. The main idea is to combine the strengths of sampling-based path planners and numerical optimal control. The lattice-based path planner is applied to the problem in a first step using a discretized search space, where system dynamics and objective function are chosen to coincide with those used in a second numerical optimal control step. This novel tight combination of a sampling-based path planner and numerical optimal control makes, in a structured way, benefit of the former method’s ability to solve combinatorial parts of the problem and the latter method’s ability to obtain locally optimal solutions not constrained to a discretized search space. The proposed approach is shown in several practically relevant path planning problems to provide improvements in terms of computation time, numerical reliability, and objective function value.
Author : Petereit, Janko
Publisher : KIT Scientific Publishing
ISBN 13 : 3731505800
Total Pages : 282 pages
Book Rating : 4.7/5 (315 download)
Download or read book Adaptive State × Time Lattices: A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments written by Petereit, Janko and published by KIT Scientific Publishing. This book was released on 2017-01-20 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robot motion planning in unstructured dynamic environments is a challenging task. Thus, often suboptimal methods are employed which perform global path planning and local obstacle avoidance separately. This work introduces a holistic planning algorithm which is based on the concept of state.
Author : Gregory S. Chirikjian
Publisher : Springer Science & Business Media
ISBN 13 : 3642003117
Total Pages : 673 pages
Book Rating : 4.6/5 (42 download)
Download or read book Algorithmic Foundations of Robotics VIII written by Gregory S. Chirikjian and published by Springer Science & Business Media. This book was released on 2010-02-04 with total page 673 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains selected contributions to WAFR, the highly-competitive meeting on the algorithmic foundations of robotics. They address the unique combination of questions that the design and analysis of robot algorithms inspires.
Author : ji-Wung Choi
Publisher :
ISBN 13 :
Total Pages : 348 pages
Book Rating : 4.:/5 (26 download)
Download or read book Real-time Obstacle Avoiding Motion Planning for Autonomous Ground Vehicles written by ji-Wung Choi and published by . This book was released on 2010 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Alán Casea Cortez
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (14 download)
Download or read book Path Planning with Dynamic Obstacles and Resource Constraints written by Alán Casea Cortez and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis considers path planning with resource constraints and dynamic obstacles for an unmanned aerial vehicle (UAV), modeled as a Dubins agent. Incorporating dynamic obstacles and resource constraints into the path planning problem designs a model that is more realistic of what an agent will encounter during its missions. A resource constraint is a path dependent load variable, such as noise or probability of detection by radar, that accrues as the agent moves towards the goal position. The resource constraint represents the total cumulative noise disturbance created by the UAV along its trajectory during flight in or around an urban area. By prescribing a maximum allowable cumulative noise disturbance, the UAV can be constrained to follow appropriate noise regulations while navigating in an urban environment. Hazards such as storms, turbulence, and ice are important to consider during the path planning stage as dynamic obstacles because these hazards can damage or destroy the UAV if encountered. These weather hazard dynamics can be recorded and learned and occur in a time-scale that is within the duration of the flight of the UAV. Incorporating these obstacles into the path planner can allow the agent to forecast how the weather will change and have it react accordingly. Obstacles such as other aerial vehicles that are handled by detect-and-avoid methods will not be looked at in this thesis. Dynamic obstacles can pose a challenge as the computation time and storage needed increases the longer it takes to find the path. Ice data from the Aviation Weather Service was employed to create training data sets for learning dynamic weather (ice) phenomena. Dynamic Mode Decomposition (DMD) was used to learn and propagate the evolution of ice conditions at flight level. These obstacles were integrated into a Hybrid $A^\star$ path-planner with backtracking to handle resource constraints. It is shown through numerical simulations that the agent is able to navigate around the dynamic obstacles to find the minimum time path to its goal. The use of Dynamic Mode Decomposition to predict and learn the dynamics of the ice hazards was a success in that it was able to recreate and construct the obstacles at future time steps.
Author : Nadya L. Balabanska
Publisher :
ISBN 13 :
Total Pages : 27 pages
Book Rating : 4.:/5 (122 download)
Download or read book Motion Planning with Dynamic Constraints Through Pose Graph Optimization written by Nadya L. Balabanska and published by . This book was released on 2020 with total page 27 pages. Available in PDF, EPUB and Kindle. Book excerpt: This contribution is an optimization-based method for robotic path-planning that is able to recover vehicle controls in addition to discovering an optimized, feasible trajectory from start to goal for vehicles with arbitrary dynamics. The motion planner extends the application of factor-graph optimization commonly used in simultaneous localization and mapping tasks to the path-planning task, specifically the “timed elastic band” trajectory optimization approach [1] for control input extraction functionality. This is achieved by the introduction of control input-dependent vertices into the factor-graph along with a way to systematically design dynamics violation costs without relying on hand-picked geometric parameters. An implementation of the planner successfully recovers vehicle control inputs and produces feasible trajectories in simulation testing.
