Path Planning for Deformable Robots in Complex Environments

نویسندگان

  • Russell Gayle
  • Paul Segars
  • Ming C. Lin
  • Dinesh Manocha
چکیده

Just a test. We present an algorithm for path planning for a flexible robot in complex environments. Our algorithm computes a collision free path by taking into account geometric and physical constraints, including obstacle avoidance, nonpenetration constraint, volume preservation, surface tension, and energy minimization. We describe a new algorithm for collision detection between a deformable robot and fixed obstacles using graphics processors. We also present techniques to efficiently handle complex deformable models composed of tens of thousands of polygons and obtain significant performance improvement over previous approaches. Moreover, we demonstrate a practical application of our algorithm in performing path planning of catheters in liver chemoembolization.

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Formation Control and Path Planning of Two Robots for Tracking a Moving Target

This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...

متن کامل

PSO-Based Path Planning Algorithm for Humanoid Robots Considering Safety

In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...

متن کامل

On-line Path Planning for Mobile Robots in Dynamic Environments

Motion planning of mobile robots is a complex problem. The complexity further increases when it comes to path planning in dynamic environments. This paper presents an algorithm for on-line path planning of mobile robots in unknown environments with moving obstacles. A mathematical model is established which considers all the current on-line information of robot as well as nearing obstacles. Par...

متن کامل

Realtime Planning for High-DOF Deformable Bodies using Two-Stage Learning

We present a method for planning the motion of arbitrarily-shaped volumetric deformable bodies or robots through complex environments. Such robots have very highdimensional configuration spaces and we compute trajectories that satisfy the dynamics constraints using a two-stage learning method. First, we train a multitask controller parameterized using dynamic movement primitives (DMP), which en...

متن کامل

Learning Cost Functions for Mobile Robot Navigation in Environments with Deformable Objects

The ability to reliably navigate through their environment is an important prerequisite for truly autonomous robots. In this paper, we consider the problem of path planning in environments with non-rigid obstacles such as curtains or plants. We present an approach that combines probabilistic roadmaps with a physical simulation of object deformations to determine a path that optimizes the trade-...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2005