VII. CONCLUSION In this paper, optimal path planning for robot manipulator is presented that utilizes a variational technique. A simplified robot arm is considered to facilitate geometric collision checking scheme. This is incorporated in the variational technique to develop a collision avoidance strategy. The collision checking scheme is rather stringent. However, it reduces the computational ...

Unmanned Aerial Vehicle (UAV) path planning is divided into off-line static path planning and real-time dynamic path planning. The former one is applied to the ideal situation that the terrain has been clear, and there is no unexpected situation in flight. Actually, however, the flight situation is very complex, we have to adopt real-time path planning based on off-line static path planning. To...

The optimal motion generation problem is solved subject to actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is a weighted time-energy function. We present some results using a mathematical programming technique. 1. Introduction Motion along a predefined path is common in robotics. The path is given from the application and a first step...

Motivated by fluid analogies, artificial harmonic potentials can eliminate local m in ima problems in robot path planning. I n this paper, simple analytical solut ions t o planar harmonic potentials are derived using tools f r o m fluid mechanics, and are applied t o two-dimensional planning among multiple moving obstacles. These closed-form solutions enable real-time computation to be readily ...

Path planning is the key task in the field of Robotics. The modelling environment and algorithm to find shortest, collision free path are the basic issues in the path planning problem of the robot motion planning. This paper presents a literature review of different path planning techniques in static as well as dynamic environment. Planning a path in static environment is easy as compared to dy...

Multi-agent path planning (MAPP) is the problem of collision-free trajectories from start to goal locations for a team agents. This work explores relatively unexplored setting MAPP where streams agents have go through starts and goals with high throughput. We tackle this by formulating new variant called periodic in which timing agent appearances periodic. The objective find plan, set that can ...

Many of our everyday jobs we imagine robots accomplishing are defined via a variety of task-specific constraints. In order for robots to perform these tasks, the robot’s motion planners must respect these constraints. While a robotic manipulator moves and plans in its joint or configuration space, many constraints are naturally defined in task space. We focus on the specific constraint asking t...