Sensor-based obstacle modeling in configuration space for manipulator motion planning

2002 ◽  
Author(s):  
Wei Li ◽  
Chenyu Ma ◽  
Zushun Chen ◽  
Qi Cao ◽  
S.K. Tso
Keyword(s):  
Motion Planning ◽  
Configuration Space

ADD-RRV for motion planning in complex environments

Robotica ◽  
2021 ◽  
pp. 1-18
Author(s):  
Peng Cai ◽  
Xiaokui Yue ◽  
Hongwen Zhang
Keyword(s):  
Principal Component Analysis ◽  
Motion Planning ◽  
Configuration Space ◽  
Principal Component ◽  
Component Analysis ◽  
Planning Method ◽  
Complex Environments ◽  
Local Configuration ◽  
Narrow Passage

Abstract In this paper, we present a novel sampling-based motion planning method in various complex environments, especially with narrow passages. We use online the results of the planner in the ADD-RRT framework to identify the types of the local configuration space based on the principal component analysis (PCA). The identification result is then used to accelerate the expansion similar to RRV around obstacles and through narrow passages. We also propose a modified bridge test to identify the entrance of a narrow passage and boost samples inside it. We have compared our method with known motion planners in several scenarios through simulations. Our method shows the best performance across all the tested planners in the tested scenarios.

Solving the motion planning problem by using neural networks

Robotica ◽  
1994 ◽  
Vol 12 (4) ◽  
pp. 323-333 ◽  
Author(s):  
R.H.T. Chan ◽  
P.K.S. Tam ◽  
D.N.K. Leung
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Motion Planning ◽  
Configuration Space ◽  
Logic Gates ◽  
Moving Object ◽  
Planning Problem ◽  
Processing Unit ◽  
Configuration Point ◽  
Motion Planning Problem

SUMMARYThis paper presents a new neural networks-based method to solve the motion planning problem, i.e. to construct a collision-free path for a moving object among fixed obstacles. Our ‘navigator’ basically consists of two neural networks: The first one is a modified feed-forward neural network, which is used to determine the configuration space; the moving object is modelled as a configuration point in the configuration space. The second neural network is a modified bidirectional associative memory, which is used to find a path for the configuration point through the configuration space while avoiding the configuration obstacles. The basic processing unit of the neural networks may be constructed using logic gates, including AND gates, OR gates, NOT gate and flip flops. Examples of efficient solutions to difficult motion planning problems using our proposed techniques are presented.

Probabilistic Roadmaps Based Motion Planning of a 4 Degree of Freedom Robot

2012 ◽  
Vol 241-244 ◽  
pp. 1922-1930
Author(s):  
Yu Tian Liu
Keyword(s):  
Motion Planning ◽  
Configuration Space ◽  
Shortest Path ◽  
Degrees Of Freedom ◽  
Learning Phase ◽  
Degree Of Freedom ◽  
Motion Path ◽  
Probabilistic Roadmaps ◽  
Two Phases ◽  
4 Degrees Of Freedom

In this paper, we used a probabilistic roadmaps(PRM) method to plan a motion path for a 4 degrees of freedom(DOF) robot in static workspace. This methods includes two phases: a learning phase and a query phase. In learning phase, a roadmap is constructed and stored as a graph , in which stores all of the random collision-free configurations in free configuration space denoted by and keeps all of the edges corresponding to feasible paths between these configurations. In query phase, the algorithm tries to connect any given initial and goal configuration to the nodes in the graph. And then the Dijkstra's algorithm searches for a shortest path to concatenate these two nodes. The experiment result demonstrates that this method applying to this 4 degrees of freedom robot works well.

Tool path optimization for robotic surface machining by using sampling-based motion planning algorithms

2020 ◽  
pp. 1-28
Author(s):  
Lu Lei ◽  
Jiong Zhang ◽  
Xiaoqing Tian ◽  
Jiang Han ◽  
Hao Wang
Keyword(s):  
Motion Planning ◽  
Configuration Space ◽  
Tool Path ◽  
Path Optimization ◽  
Machining Process ◽  
Axis Orientation ◽  
Surface Machining ◽  
Tool Path Optimization ◽  
Tool Axis ◽  
Planning Algorithms

Abstract This paper develops a tool path optimization method for robot surface machining by sampling-based motion planning algorithms. In the surface machining process, the tool-tip position needs to strictly follow the tool path curve and the posture of the tool axis should be limited in a certain range. But the industrial robot has at least six degrees of freedom (Dof) and has redundant Dofs for surface machining. Therefore, the tool motion of surface machining can be optimized using the redundant Dofs considering the tool path constraints and limits of the tool axis orientation. Due to the complexity of the problem, the sampling-based motion planning method has been chosen to find the solution, which randomly explores the configuration space of the robot and generates a discrete path of valid robot state. During the solving process, the joint space of the robot is chosen as the configuration space of the problem and the constraints for the tool-tip following requirements are in the operation space. Combined with general collision checking, the limited region of the tool axis vector is used to verify the state's validity of the configuration space. In the optimization process, the sum of path length of each joint of the robot is set as the optimization objective. The algorithm is developed based on the open motion planning library (OMPL) which contains the state-of-the-art sampling-based motion planners. Finally, two examples are used to demonstrate the effectiveness and optimality of the method.

Motion planning in crowded planar environments

Robotica ◽  
1999 ◽  
Vol 17 (4) ◽  
pp. 365-371 ◽  
Author(s):  
Yoav Lasovsky ◽  
Leo Joskowicz
Keyword(s):  
Motion Planning ◽  
Configuration Space ◽  
Degrees Of Freedom ◽  
Optimization Problems ◽  
Linear Optimization ◽  
Local Geometry ◽  
Objective Functions ◽  
Linear Optimization Problems ◽  
Geometrically Complex ◽  
Crowded Environments

We present a new algorithm for fine motion planning in geometrically complex situations. Geometrically complex situations have complex robot and environment geometry, crowded environments, narrow passages and tight fits. They require complex robot motions with coupled degrees of freedom. The algorithm constructs a path by incrementally building a graph of linearized convex configuration space cells and solving a series of linear optimization problems with varying objective functions. Its advantages are that it better exploits the local geometry of narrow passages in configuration space, and that its complexity does not significantly increase as the clearance of narrow passages decreases. We demonstrate the algorithm on examples which other planners could not solve.

Tangent bundle RRT: A randomized algorithm for constrained motion planning

Robotica ◽  
2014 ◽  
Vol 34 (1) ◽  
pp. 202-225 ◽  
Author(s):  
Beobkyoon Kim ◽  
Terry Taewoong Um ◽  
Chansu Suh ◽  
F. C. Park
Keyword(s):  
Motion Planning ◽  
Configuration Space ◽  
Tangent Bundle ◽  
Numerical Experiments ◽  
Randomized Algorithm ◽  
Random Trees ◽  
Constrained Motion ◽  
Wide Range ◽  
Random Node ◽  
Planning Problems

SUMMARYThe Tangent Bundle Rapidly Exploring Random Tree (TB-RRT) is an algorithm for planning robot motions on curved configuration space manifolds, in which the key idea is to construct random trees not on the manifold itself, but on tangent bundle approximations to the manifold. Curvature-based methods are developed for constructing tangent bundle approximations, and procedures for random node generation and bidirectional tree extension are developed that significantly reduce the number of projections to the manifold. Extensive numerical experiments for a wide range of planning problems demonstrate the computational advantages of the TB-RRT algorithm over existing constrained path planning algorithms.

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