A Practical Algorithm for Shortest Paths on Polyhedral Surfaces

1993 ◽  
Author(s):  
P. Rambeaud ◽  
Saïd Zeghloul
Keyword(s):  
Path Planning ◽  
Shortest Path ◽  
Shortest Paths ◽  
Experimental Results ◽  
Planning Problem ◽  
Polyhedral Surface ◽  
Planning Systems ◽  
Practical Algorithm ◽  
Path Planning Problem ◽  
3D Problem

Abstract This paper describes a method for treating the shortest path planning problem along a convex polyhedral surface using an unfolding process. Since most planning systems use polyhedral environments, finding the shortest possible path is very useful for some typical robotics applications such as spacecraft or submersible robot motions. The basic idea in our algorithm is to unfold the polyhedral surface into a plane, in order to convert the 3D problem to a 2D one. We provide experimental results on a box and on a sphere to illustrate the unfolding process.

The Algebraic Algorithm for Solving the Path Planning Problem of a Weighted Directed Graph

2014 ◽  
Vol 644-650 ◽  
pp. 1648-1653 ◽  
Author(s):  
Yan Ping Li ◽  
Kun Wei ◽  
Dan Wang
Keyword(s):  
Path Planning ◽  
Directed Graph ◽  
Shortest Path ◽  
Distance Matrix ◽  
Experimental Results ◽  
Planning Problem ◽  
Dijkstra Algorithm ◽  
Weighted Directed Graph ◽  
Direct Distance ◽  
Path Planning Problem

In this paper, an algebraic algorithm is developed with Min-algebra for the path planning problem of a simple weighted directed graph. According to the algebraic algorithm, the shortest path and its minimum steps will be concluded through the direct distance matrix A. Experimental results show that the algebraic algorithm is suitable for the path planning problem. The shortest path and its length can be gotten rapidly based on the proposed algorithm. Finally, the results are compared to those obtained by the conventional Dijkstra algorithm.

Coverage Path Planning Using Mobile Robot Team Formations

2015 ◽  
pp. 214-247
Author(s):  
Prithviraj Dasgupta
Keyword(s):  
Path Planning ◽  
A Priori ◽  
Experimental Results ◽  
Future Research ◽  
Planning Problem ◽  
Coverage Path Planning ◽  
Preliminary Results ◽  
Time And Energy ◽  
Path Planning Problem ◽  
Multi Robot

The multi-robot coverage path-planning problem involves finding collision-free paths for a set of robots so that they can completely cover the surface of an environment. This problem is non-trivial as the geometry and location of obstacles in the environment is usually not known a priori by the robots, and they have to adapt their coverage path as they discover obstacles while moving in the environment. Additionally, the robots have to avoid repeated coverage of the same region by each other to reduce the coverage time and energy expended. This chapter discusses the research results in developing multi-robot coverage path planning techniques using mini-robots that are coordinated to move in formation. The authors present theoretical and experimental results of the proposed approach using e-puck mini-robots. Finally, they discuss some preliminary results to lay the foundation of future research for improved coverage path planning using coalition game-based, structured, robot team reconfiguration techniques.

Solving the multi-objective path planning problem in mobile robotics with a firefly-based approach

2015 ◽  
Vol 21 (4) ◽  
pp. 949-964 ◽  
Author(s):  
Alejandro Hidalgo-Paniagua ◽  
Miguel A. Vega-Rodríguez ◽  
Joaquín Ferruz ◽  
Nieves Pavón
Keyword(s):  
Path Planning ◽  
Mobile Robotics ◽  
Planning Problem ◽  
Multi Objective ◽  
Path Planning Problem

Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment

Robotica ◽  
2021 ◽  
pp. 1-30
Author(s):  
Ümit Yerlikaya ◽  
R.Tuna Balkan
Keyword(s):  
Path Planning ◽  
Extreme Environment ◽  
Configuration Spaces ◽  
Planning Problem ◽  
Different Types ◽  
Planning Algorithm ◽  
Line Path ◽  
Path Planning Algorithm ◽  
Path Planning Problem ◽  
System Operating

Abstract Instead of using the tedious process of manual positioning, an off-line path planning algorithm has been developed for military turrets to improve their accuracy and efficiency. In the scope of this research, an algorithm is proposed to search a path in three different types of configuration spaces which are rectangular-, circular-, and torus-shaped by providing three converging options named as fast, medium, and optimum depending on the application. With the help of the proposed algorithm, 4-dimensional (D) path planning problem was realized as 2-D + 2-D by using six sequences and their options. The results obtained were simulated and no collision was observed between any bodies in these three options.

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.

ON THE PATH PLANNING PROBLEM IN THE VICINITY OF OBSTACLES

1998 ◽  
Vol 29 (8) ◽  
pp. 807-868 ◽  
Author(s):  
ALBERT Y. ZOMAYA MATT R. WRIGHT TAR
Keyword(s):  
Path Planning ◽  
Planning Problem ◽  
Path Planning Problem
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