Collision-Free Path Planning with Kinematic Constraints in Urban Scenarios

2021 ◽  
Vol 26 (5) ◽  
pp. 731-738
Author(s):  
Liang Wang ◽  
Bing Wang ◽  
Chunxiang Wang
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Kinematic Constraints

scholarly journals Survey of Robot 3D Path Planning Algorithms

2016 ◽  
Vol 2016 ◽  
pp. 1-22 ◽  
Author(s):  
Liang Yang ◽  
Juntong Qi ◽  
Dalei Song ◽  
Jizhong Xiao ◽  
Jianda Han ◽  
...  
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Free Path ◽  
Optimal Path ◽  
Temporal Constraints ◽  
Three Dimension ◽  
Underwater Robots ◽  
Kinematic Constraints ◽  
Aerial Robots ◽  
Planning Algorithms

Robot 3D (three-dimension) path planning targets for finding an optimal and collision-free path in a 3D workspace while taking into account kinematic constraints (including geometric, physical, and temporal constraints). The purpose of path planning, unlike motion planning which must be taken into consideration of dynamics, is to find a kinematically optimal path with the least time as well as model the environment completely. We discuss the fundamentals of these most successful robot 3D path planning algorithms which have been developed in recent years and concentrate on universally applicable algorithms which can be implemented in aerial robots, ground robots, and underwater robots. This paper classifies all the methods into five categories based on their exploring mechanisms and proposes a category, called multifusion based algorithms. For all these algorithms, they are analyzed from a time efficiency and implementable area perspective. Furthermore a comprehensive applicable analysis for each kind of method is presented after considering their merits and weaknesses.

scholarly journals Collision-free path planning for welding manipulator via hybrid algorithm of deep reinforcement learning and inverse kinematics

2021 ◽  
Author(s):  
Jie Zhong ◽  
Tao Wang ◽  
Lianglun Cheng
Keyword(s):  
Reinforcement Learning ◽  
Path Planning ◽  
Free Path ◽  
Inverse Kinematics ◽  
Multiple Dimensions ◽  
Continuous State ◽  
Planning Algorithm ◽  
Convergence Performance ◽  
Path Planner ◽  
Action Spaces

AbstractIn actual welding scenarios, an effective path planner is needed to find a collision-free path in the configuration space for the welding manipulator with obstacles around. However, as a state-of-the-art method, the sampling-based planner only satisfies the probability completeness and its computational complexity is sensitive with state dimension. In this paper, we propose a path planner for welding manipulators based on deep reinforcement learning for solving path planning problems in high-dimensional continuous state and action spaces. Compared with the sampling-based method, it is more robust and is less sensitive with state dimension. In detail, to improve the learning efficiency, we introduce the inverse kinematics module to provide prior knowledge while a gain module is also designed to avoid the local optimal policy, we integrate them into the training algorithm. To evaluate our proposed planning algorithm in multiple dimensions, we conducted multiple sets of path planning experiments for welding manipulators. The results show that our method not only improves the convergence performance but also is superior in terms of optimality and robustness of planning compared with most other planning algorithms.

Path Planning for Spheres in Three Dimensional Environments With Low Interference Index

1994 ◽  
Author(s):  
Duane W. Storti ◽  
Debasish Dutta
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Configuration Space ◽  
Local Knowledge ◽  
Three Dimensional ◽  
Target Point ◽  
Planning Problem ◽  
Spherical Object ◽  
Starting Point ◽  
Path Planning Problem

Abstract We consider the path planning problem for a spherical object moving through a three-dimensional environment composed of spherical obstacles. Given a starting point and a terminal or target point, we wish to determine a collision free path from start to target for the moving sphere. We define an interference index to count the number of configuration space obstacles whose surfaces interfere simultaneously. In this paper, we present algorithms for navigating the sphere when the interference index is ≤ 2. While a global calculation is necessary to characterize the environment as a whole, only local knowledge is needed for path construction.

A Collision-Free Path Planning Approach for Multiple Robots Under Warehouse Scenarios

2019 ◽  
pp. 55-63
Author(s):  
Xiaoxiao Zhuang ◽  
Guangsheng Feng ◽  
Haibin Lv ◽  
Hongwu Lv ◽  
Huiqiang Wang ◽  
...  
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Multiple Robots ◽  
Planning Approach

scholarly journals Collision-Free Path Planning for a Manipulator Using Free Form Surface.

1996 ◽  
Vol 14 (6) ◽  
pp. 860-867
Author(s):  
Noriyuki Kawarazaki ◽  
Kan Taguchi
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Free Form ◽  
Free Form Surface
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