scholarly journals Motion planning techniques for self-configuration of homogeneous pivoting cube modular satellites

2021 ◽  
pp. 107249
Author(s):  
Qiliang Song ◽  
Dong Ye ◽  
Zhaowei Sun ◽  
Bo Wang
Keyword(s):  
Motion Planning ◽  
Planning Techniques

scholarly journals Motion planner for a Tetris-inspired reconfigurable floor cleaning robot

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142091444 ◽  
Author(s):  
Prabakaran Veerajagadheswar ◽  
Ku Ping-Cheng ◽  
Mohan Rajesh Elara ◽  
Anh Vu Le ◽  
Masami Iwase
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Robotic Systems ◽  
Planning Techniques ◽  
Essential Ingredient ◽  
Coverage Path Planning ◽  
Cleaning Robot ◽  
Simulated Environment ◽  
Navigation Path ◽  
Planning Technique

Coverage path planning technique is an essential ingredient in every floor cleaning robotic systems. Even though numerous approaches demonstrate the benefits of conventional coverage motion planning techniques, they are mostly limited to fixed morphological platforms. In this article, we put forward a novel motion planning technique for a Tetris-inspired reconfigurable floor cleaning robot named “hTetro” that can reconfigure its morphology to any of the seven one-sided Tetris pieces. The proposed motion planning technique adapts polyomino tiling theory to tile a defined space, generates reference coordinates, and produces a navigation path to traverse on the generated tile-set with an objective of maximizing the area coverage. We have summarized all these aspects and concluded with experiments in a simulated environment that benchmarks the proposed technique with conventional approaches. The results show that the proposed motion planning technique achieves significantly higher performance in terms of area recovered than the traditional methods.

Mechanization of spatial reasoning for automatic pipe layout design

1991 ◽  
Vol 5 (1) ◽  
pp. 1-20 ◽  
Author(s):  
David Zhu ◽  
Jean-Claude Latombe
Keyword(s):  
Motion Planning ◽  
Spatial Reasoning ◽  
Layout Design ◽  
Planning Techniques ◽  
Design Problems ◽  
New Approach ◽  
Left Behind ◽  
Rigid Objects ◽  
Symbolic Reasoning ◽  
High Level

Artificial Intelligence has been very active in developing high-level symbolic reasoning paradigms that have resulted in practical expert systems. However, with a few exceptions, it has paid little attention to the automation of spatial reasoning. On the other hand, spatial reasoning has attracted the interest of several researchers in Robotics. One of the important problems that have been investigated is motion planning, and very significant results have been obtained. This paper describes an implemented system for designing pipe layouts automatically using motion planning techniques. It introduces a new approach to pipe layout design automation in which pipe routes are treated as trajectories left behind by rigid objects (‘robots’). We have implemented this approach in a basic Pipe Router that is described in detail in this paper. We have extended this router in order to make it capable of treating a variety of other constraints which are typical of practical pipe layout design problems. These constraints relate to the process carried out in the pipes, to the design of their mechanical support, and to the constructability and the ease of operation and maintenance of the designed pipe systems.

Path Generation Algorithm Verification of Five DOF Robotic Arm With Linear Actuator Using MATLAB Sim-Mechanics

2018 ◽  
Author(s):  
Maged M. Abou Elyazed ◽  
A. S. Zaghloul ◽  
Ahmed Y. AbdelHamid
Keyword(s):  
Motion Planning ◽  
Degrees Of Freedom ◽  
Load Capacity ◽  
Inverse Kinematic ◽  
Robotic Arm ◽  
Path Generation ◽  
Planning Techniques ◽  
Generation Algorithm ◽  
3D Space ◽  
High Load Capacity

Manipulators have been considered the backbone of industrial world for decades. The main aspect of industrial robotic arm is its ability to track a certain path in the 3D space. Using liner actuators to drive multi degrees of freedom robot offers high load capacity, but path generation algorithm of such robot is relatively complicated and computationally expensive. Furthermore, limitations in the joints workspace are existed. In this work, five degrees of freedom robotic arm is constructed to guaranty suitable workspace. Forward and inverse kinematic algorithms are evaluated. Moreover, path generation algorithm in Cartesian space is held using three different motion planning techniques. Sim-Mechanics toolbox under MATLAB is used to verify the introduced forward kinematics, inverse kinematics, and path generation algorithms. Thus, a comparison between the three introduced motion planning techniques is illustrated. Finally, the generated paths are experimentally applied on the case study. The work aims to illustrate the importance of simulation in the field of robotic arm algorithms verification.

scholarly journals Water Sink Model for Robot Motion Planning

Sensors ◽  
2019 ◽  
Vol 19 (6) ◽  
pp. 1269 ◽  
Author(s):  
Gi-Yoon Jeon ◽  
Jin-Woo Jung
Keyword(s):  
Motion Planning ◽  
Water Flow ◽  
Potential Field ◽  
Cell Decomposition ◽  
Performance Criteria ◽  
Local Minima ◽  
Probabilistic Algorithms ◽  
Planning Techniques ◽  
Field Methods ◽  
And Performance

There are various motion planning techniques for robots or agents, such as bug algorithm, visibility graph, Voronoi diagram, cell decomposition, potential field, and other probabilistic algorithms. Each technique has its own advantages and drawbacks, depending on the number and shape of obstacles and performance criteria. Especially, a potential field has vector values for movement guidance to the goal, and the method can be used to make an instantaneous and smooth robot movement path without an additional controller. However, there may be some positions with zero force value, called local minima, where the robot or agent stops and cannot move any further. There are some solutions for local minima, such as random walk or backtracking, but these are not yet good enough to solve the local minima problem. In this paper, we propose a novel movement guidance method that is based on the water sink model to overcome the previous local minima problem of potential field methods. The concept of the water sink model is to mimic the water flow, where there is a sink or bathtub with a plughole and floating piece on the water. The plughole represents the goal position and the floating piece represents robot. In this model, when the plug is removed, water starts to drain out via the plughole and the robot can always reach the goal by the water flow. The water sink model simulator is implemented and a comparison of experimental results is done between the water sink model and potential field.

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