Planning Robot Motion in a 2-D Region with Unknown Obstacles
author
Abstract:
The purpose of this paper is to present several algorithms for planning the motion of a robot in a two-dimensional region having obstacles whose shapes and locations are unknown. The convergence and efficiency of the algorithms are discussed and upper bounds for the lengths of paths generated by the different algorithms are derived and compared.
similar resources
Modeling Motion Uncertainty of Moving Obstacles for Robot Motion Planning
This paper describes a method of modeling the motion uncertainty of moving obstacles and its application to mobile robot motion planning. The method explicitly considers three sources of motion uncertainty: path ambiguity, velocity uncertainty, and observation uncertainty. The model is represented by a probabilistic distribution over possible position on a path of a moving obstacle. Using this ...
full textA Practical Genetic Algorithm for Obstacles Avoidance Robot Motion Planning
Genetic Algorithms is one of the latest AI techniques that are used in many engineering applications. Motion Planning of complex robot arms is a difficult problem that requires an efficient search and optimization algorithms. Many different approaches exist to motion planning and none of them is ideal in all situations. This paper introduces a new approach to Motion planning employing genetic a...
full textRobot Motion Planning by Approximation of Obstacles in Configuration Space
This paper describes an approach for automatic robot motion planning. A starting path consisting of the direct line connection from start to goal in the configuration space is generated first. At the most colliding configuration a new point is added and moved out of the collision. For this the configuration space is approximated using a corresponding skeleton robot and a point-like obstacle. A ...
full textAn integrated architecture for robot motion planning and control in the presence of obstacles with unknown trajectories
AbstructWe present an integrated architecture for real-time planning and control of robot motions, for a robot operating in the presence of moving obstacles whose trajectories are not known a priori. The architecture comprises three control loops: an inner loop to linearize the robot dynamics, and two outer loops to implement the attractive and repulsive forces used by an artificial potential f...
full textRobot Navigation in a Known Environment with Unknown Moving Obstacles
To be useful in the real world, robots need to move safely in unstructured environments and achieve their given goals despite unexpected changes in their surroundings. The environments of real robots are rarely predictable or perfectly known so it does not make sense to make precise plans before moving. The robot navigation problem can be decomposed into the two problems of getting to a goal an...
full textMobile Robot Motion Planning Considering Path Ambiguity of Moving Obstacles
This paper describes a motion planning method for mobile robot which considers the path ambiguity of moving obstacles. Each moving obstacle has a set of paths and their probabilities. The robot selects the motion which minimizes the expected time to reach its destination, by recursively predicting future states of each obstacle and then selecting the best motion for them. To calculate the motio...
full textMy Resources
Journal title
volume 2 issue 3
pages 112- 117
publication date 1989-11-01
By following a journal you will be notified via email when a new issue of this journal is published.
Hosted on Doprax cloud platform doprax.com
copyright © 2015-2023