Path planning is a necessary component of any autonomous vehicle. The task is one of nding a course that takes the vehicle from its current location to a destination avoiding obstacles that might damage or divert the vehicle. There are many forms of path planning algorithms such as those that pregenerate a path versus those that perform reactive run-time planning. This paper presents a two-dime...

Wearable lower extremity exoskeleton robot is a kind of training equipment designed for the disabled or powerless in extremity. In order to improve environmental adaptability and better meet use habits patients, it necessary plan design movement path, path planning model wearable based on feature description proposed, which describes objects with different wearing frequencies intensities. Takin...

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...

This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane with a passive revolute third joint. Such a robot is small-time locally controllable on an open subset of its zero velocity section, allowing it to follow any path in this subset arbitrarily closely. However, some paths are “preferred” by the dynamics of the manipulator in th...

The 5-axis Coordinate Measuring Machine (CMM) is widely used for quality data collection of the machining parts, such as cylinder blocks and heads engines. High efficient inspection path planning multiple feature groups from different stations one key tasks CMM application. In engineering practice, diverse accounts large labor cost process development cycle. To improve efficiency generation com...

Path planning is one of the most vital elements of mobile robotics. With a priori knowledge of the environment, global path planning provides a collision-free route through the workspace. The global path plan can be calculated with a variety of informed search algorithms, most notably the A* search method, guaranteed to deliver a complete and optimal solution that minimizes the path cost. Path ...

We present a heuristic approach to geometric path planning with movable obstacles. Treating movable obstacles as mobile robots leads to path planing problems with many degrees of freedom which are intractable. Our strategy avoids this computational complexity by decoupling the whole motion planning problem into a series of tractable problems, which are solved using known path planning algorithm...

This paper proposes a path and motion planning algorithm for a tree climbing problem. This problem is challenging as the shape of tree is complex and irregular. To our best knowledge, this is the first paper dealing with the path planning problem on natural tree environment. Different from conventional motion planning approach that requires constructing a complex configuration space, this paper...