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Toward Efficient Trajectory Planning: The Path-Velocity Decomposition

Kamal Kant, Steven W. Zucker
1986 The international journal of robotics research  
The essence of our approach lies in a heuristic but natural decomposition of TPP into two subproblems: (1) planning a path to avoid collision with static obstacles and (2) planning the velocity along the  ...  path to avoid collision with moving obstacles.  ...  Acknowledgments We wish to thank Hossam El Guidy, Yvan Leclerc, and Susan Whitesides for discussions and help with this document.  ... 
doi:10.1177/027836498600500304 fatcat:bwdcbae6mnbtpjrtbrb2tobhkq

Selection of Shortest Path & Validation for Motion of Multiple Robots

2019 International journal of recent technology and engineering  
When a robot moves from the initial position to the desired position, one or more obstacles having curved periphery are likely to be encountered.  ...  Using recursive algorithm, the shortest path is taken from all these alternative paths.  ...  The shortest distance is the straight line path when the obstacle doesn't exist. The following figure shows the straight line path without any obstacle.  ... 
doi:10.35940/ijrte.d9023.118419 fatcat:4fbusozvp5cdhpho2ztecda5y4

Planning the Shortest Safe Path Amidst Unpredictably Moving Obstacles [chapter]

Jur van den Berg, Mark Overmars
2008 Springer Tracts in Advanced Robotics  
In this paper we discuss the problem of planning safe paths amidst unpredictably moving obstacles in the plane.  ...  Given the initial positions and the maximal velocities of the moving obstacles, the regions that are possibly not collision-free are modeled by discs that grow over time.  ...  That is, planning a path for a robot from a start location to a goal location that avoids collisions with the moving obstacles.  ... 
doi:10.1007/978-3-540-68405-3_7 fatcat:ubotm5iaejhrlcm5cnwj4ofjye

A Lyapunov-stable, sensor-based model for real-time path-tracking among unknown obstacles

Antonio Sgorbissa, Alessandro Villa, Andrea Vargiu, Renato Zaccaria
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
the path on-line in order to avoid both known and unforeseen obstacles, and (ii) a feedback-control model that is capable of driving a unicycle vehicle along the collision free path.  ...  The article proposes a feedback control system for real-time navigation and obstacle avoidance that is made of two components: (i) a sensor-based, real-time model that generates and periodically updates  ...  If there is not an immediate danger of colliding with an obstacle, the start and the goal are simply connected through the shortest path: a straight line.  ... 
doi:10.1109/iros.2009.5354347 dblp:conf/iros/SgorbissaVVZ09 fatcat:xgr77lz54berdo7lzytgxh4rly

On-line path planning for mobile robots in dynamic environments

P. Raja, S. Pugazhenthi
2012 Neural Network World  
This paper presents an algorithm for on-line path planning of mobile robots in unknown environments with moving obstacles.  ...  Motion planning of mobile robots is a complex problem. The complexity further increases when it comes to path planning in dynamic environments.  ...  the moving obstacle. The path of the moving obstacle is assumed to be along a circular path.  ... 
doi:10.14311/nnw.2012.22.005 fatcat:ldjr4spkhbgpve3d6j3dq5onzi

Dynamic window based approach to mobile robot motion control in the presence of moving obstacles

Marija Seder, Ivan Petrovic
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
This paper presents a motion control method for mobile robots in partially unknown environments populated with moving obstacles.  ...  The moving obstacles are modelled as moving cells in the occupancy grid map and their motion is predicted by applying a procedure similar to the dynamic window approach.  ...  This research has been supported by the Ministry of Science, Education and Sports of the Republic of Croatia under grant No. 036 − 0363078 − 3018.  ... 
doi:10.1109/robot.2007.363613 dblp:conf/icra/SederP07 fatcat:gukuydcf5fdljjvzwh2njgtnue

Moving obstacle avoidance for mobile robot moving on designated path

Taichi Yamada, Yeow Li Sa, Akihisa Ohya
2013 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)  
In this method, the robot moves in a range of velocities and thus being able to avoid obstacle staying closely to the designated path.  ...  The results of the experiments verify that this method is able to let the robot move closely to the designated path while avoiding moving obstacle.  ...  In Figure. 2, a robot is to move to current subgoal along the designated path (blue dotted line path) and when reaches the subgoal, robot move to a next subgoal.  ... 
doi:10.1109/urai.2013.6677324 dblp:conf/urai/YamadaSO13 fatcat:q5qfvsh5kjaezgia6hsstebo3y

Planning through Workspace Constraint Satisfaction and Optimization [article]

Weifu Wang, Ping Li
2022 arXiv   pre-print
to derive good quality collision-free paths for even complex robots.  ...  Using workspace geometries, we first find collision-free piece-wise linear paths for each key point so that at the endpoints of each segment, the distance constraints are satisfied among the key points  ...  When no obstacle exists, and no velocity limit exists for either endpoint, the shortest path can be a straight line, while the other follows a trajectory that satisfies the distance constraint.  ... 
arXiv:2206.08337v1 fatcat:q7ejzeftazfvlgnezeo7kgacsi

COMPANION: A Constraint-Optimizing Method for Person-Acceptable Navigation

Rachel Kirby, Reid Simmons, Jodi Forlizzi
2009 RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication  
These constraints are accounted for at the global planning level.  ...  This paper introduces the COMPANION framework: a Constraint-Optimizing Method for Person-Acceptable NavigatION.  ...  Figure 2 shows the cost function for a person moving along the positive Y-axis, with a relative velocity of 1 m/s toward the robot.  ... 
doi:10.1109/roman.2009.5326271 dblp:conf/ro-man/KirbySF09 fatcat:fqf5doi3lfbhvpqgxnd2npleua

Multi-objective optimization path planning with moving target

Baraa M. Abed, Wesam M. Jasim
2022 IAES International Journal of Artificial Intelligence (IJ-AI)  
<div align="left"><span>Path planning or finding a collision-free path for mobile robots between starting position and its destination is a critical problem in robotics.  ...  This study is concerned with the multi objective optimization path planning problem of autonomous mobile robots with moving targets in dynamic environment, with three objectives considered: path security  ...  According to this study, dynamic obstacles move linearly, that is, along a straight line, with a velocity. 𝑣 𝑜𝑏𝑠 and direction (𝜑 𝑜𝑏𝑠 ) defined by (7) and (8) . 𝑛𝑒𝑤𝑥 𝑜𝑏𝑠 = 𝑜𝑙𝑑 𝑥 𝑜𝑏𝑠  ... 
doi:10.11591/ijai.v11.i3.pp1184-1196 fatcat:t2py6oypmbg4vhbv55gguc4k4a

Gross motion planning---a survey

Yong K. Hwang, Narendra Ahuja
1992 ACM Computing Surveys  
This paper surveys the work on gross-motionplanning, including motion planners for point robots, rigid robots, and manipulators in stationary, time-varying, constrained, and movable-object environments.The  ...  Motlonplanning lsoneofthe mostimportant areasofrobotics research The complexity of the motion-planning problem has hindered the developmentof practical algorithms.  ...  If the straight-line path of robot A intersects the goal position of robot B, then robot A should be moved first. These rules allow robot A to move in a straight line.  ... 
doi:10.1145/136035.136037 fatcat:ylshsgnr5jhkje2uruafaf7bpa

Optimality in robot motion

Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre
2014 Communications of the ACM  
The paper emphasizes the distinction between an optimal robot motion and a robot motion resulting from the application of optimization techniques.  ...  Most of the time, optimal motions do not exist and when they exist they are difficult to compute. A clear distinction should be made between optimal motion planning and motion optimization.  ...  The work has been partly supported by ERC Grant 340050 Actanthrope, by a grant of the Gaspar Monge Program for Optimization and Operations Research of the Fdération Mathématique Jacques Hadamard (FMJH)  ... 
doi:10.1145/2629535 fatcat:6wzj3g4pwbcvhp5xq65xupz75y

Off-Line and On-Line Trajectory Planning [chapter]

Zvi Shiller
2015 Mechanisms and Machine Science  
The basic problem of motion planning is to select a path, or trajectory, from a given initial state to a destination state, while avoiding collisions with known static and moving obstacles.  ...  This chapter reviews the main approaches to off-line and on-line planning, and presents one solution for each.  ...  Trajectory Planning (Off-Line) The trajectory planning problem concerns the computation of robot motions that move the robot between two given states, while avoiding collision with obstacles, satisfying  ... 
doi:10.1007/978-3-319-14705-5_2 fatcat:ubhoizzuqrfbldwz4jk7z6tt6a

Motion of Multiple Robot in a Curved Boundary & Obstacles

2019 International Journal of Engineering and Advanced Technology  
The boundary of the workspace may be a straight line or curve shaped. The obstacle may be polygonal or curved shaped.  ...  A program is developed for the motion of the multiple robots to move from its origin location to the desired location without colliding with the boundary, the other moving robots and the static obstacles  ...  Every robot will trace a path of straight line, since the straight line will make the robot to move in minimum time.  ... 
doi:10.35940/ijeat.a1834.109119 fatcat:yvlknkwivjf73dflbbwmo4acma

Online Exploration and Coverage Planning in Unknown Obstacle-Cluttered Environments [article]

Xinyue Kan, Hanzhe Teng, Konstantinos Karydis
2020 arXiv   pre-print
The proposed approach ensures resolution-complete coverage, can be tuned to achieve fast exploration, and plans smooth paths for Dubins vehicles to follow at constant velocity in real-time.  ...  In this paper, we propose a hierarchical, hex-decomposition-based coverage planning algorithm for unknown, obstacle-cluttered environments.  ...  Hence, for HDCP, HDCP-E, and M-HDE, the hex subregion side length is r = 1 m. The robot moves at a constant velocity of 1 m/s.  ... 
arXiv:2006.16460v1 fatcat:6hqoahbzqvhyxkflipptr6j35y
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