4 Application to nonholonomic robots, and experimental results 12 4.1 Application to general carlike robots . . . . . . . . . . . . . . . . . . . . . . . 14 4.1.1 Filling in the details . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4.1.2 Experimental results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 4.2 Application to forward carlike robots . . . . . . . . . . . . ...

Path Relaxation is a method of planning safe paths around obstacles for mobile robots. It works in two steps: a global grid starch that finds a rough path, followed by a local relaxation step that adjusts each node on the path to lower the overall path cost. The representation used by Path Relaxation allows an explicit tradeoff among length of path, clearance away from obstacles, and distance t...

An efficient single-query motion planning approach for non-stationary robots is presented. The approach exploits workspace information to identify highly constrained placements of the robot along a potential solution path. Due to the constraints imposed by the environment at these placements, we view them as an assembly, consisting of the robot and the environment. The original motion planning ...

modeling and wrench feasible workspace analysis of a spatial cable suspended robots is presented. a six-cable spatial cable robot is used the same as stewart robots. due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied...

We propose a representation and a planning algorithm able to deal with problems integrating task planning as well as motion and manipulation planning knowledge involving several robots and objects. Robot plans often include actions where the robot has to place itself in some position in order to perform some other action or to “modify” the configuration of its environment by displacing objects....

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...

This paper presents a path planning algorithm for an articulated planar robot with a static obstacle. The algorithm selects a robot part, finds a path to its goal configuration by systematic configuration space search, drags the entire robot along the path using compliant motion, and repeats the cycle until every robot part reaches its goal. The planner is tested on 11,000 random problems, whic...