An Approach to Dynamic Distance Calculations for Obstacle Avoidance Problems

1991 ◽  
Author(s):  
C. Y. Liu ◽  
W. R. Chen ◽  
R. W. Mayne
Keyword(s):  
Motion Planning ◽  
Calculation Method ◽  
Two Dimensional ◽  
Robot Path Planning ◽  
Distance Calculation ◽  
Approach Distance ◽  
Quadratic Programming Method ◽  
Swept Volume ◽  
Planning Problems ◽  
Robot Path

Abstract This paper presents a distance calculation method which can be used in machine motion planning optimizations where interference is a concern. Dynamic distance calculations are discussed which use the quadratic programming method combined with an approximate swept volume approach. Distance-to-contact calculations can be obtained for both interference and non-interference situations. The swept volume of a moving polygon is constructed through a series of overlapped swept volume segments. Each of the swept volume segments is efficiently developed by checking the inner products of polygon outward boundary normals with velocity vectors for polygon vertices. Two dimensional examples of distance-to-contact computations and robot path planning problems are presented for a sample three link robot with three rotational joints.

Distance Calculations in Motion Planning Problems With Interference Situations

1990 ◽  
Author(s):  
C. Y. Liu ◽  
R. W. Mayne
Keyword(s):  
Quadratic Form ◽  
Convex Polyhedron ◽  
Linear Inequality ◽  
Convex Bodies ◽  
Three Dimensional ◽  
Robot Path Planning ◽  
Contact Distance ◽  
Swept Volume ◽  
Planning Problems ◽  
Robot Path

Abstract This paper discusses distance calculations for three dimensional polyhedra with the assumption of convex bodies. An n-surface convex polyhedron is viewed as the intersection of n half-spaces and is represented by n linear inequality equations while the square of the distance between two points is of a quadratic form in terms of two sets of x-y-z coordinates. The static distance-to-contact between two non-interfering convex polyhedral shapes is then directly solvable by quadratic programming. Based on the concept of distance-past-contact, distance calculations for situations with interference are presented and tested in optimization based robot path planning examples. The distance evaluation is further investigated for the dynamic situations by a swept volume computation strategy. The approach is illustrated in examples with a moving robot link and a fixed obstacle.

Path Planning in a Mobile Robot

2019 ◽  
pp. 582-608
Author(s):  
Diego Alexander Tibaduiza Burgos ◽  
Maribel Anaya Vejar
Keyword(s):  
Genetic Algorithms ◽  
Path Planning ◽  
Mobile Robot ◽  
Fitness Function ◽  
Experimental Setup ◽  
Robot Path Planning ◽  
Natural Evolution ◽  
On Line ◽  
Planning Problems ◽  
Robot Path

This chapter presents the development and implementation of three approaches that contribute to solving the mobile robot path planning problems in dynamic and static environments. The algorithms include some items regarding the implementation of on-line and off-line situations in an environment with static and mobile obstacles. A first technique involves the use of genetic algorithms where a fitness function and the emulation of the natural evolution are used to find a free-collision path. The second and third techniques consider the use of potential fields for path planning using two different ways. Brief descriptions of the techniques and experimental setup used to test the algorithms are also included. Finally, the results applying the algorithms using different obstacle configurations are presented and discussed.

Autonomous Rectilinear Motion Planning for a Spatial Robot: Path Planning for a Spatial 4R Manipulator With a Single Spherical Obstacle Inside the Workspace

1992 ◽  
Vol 114 (4) ◽  
pp. 559-563 ◽  
Author(s):  
Menq-Dar Shieh ◽  
J. Duffy
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Free Path ◽  
Efficient Algorithm ◽  
Rectilinear Motion ◽  
Robot Path Planning ◽  
End Effector ◽  
Truncated Pyramid ◽  
Robot Path

This is the first of a series of papers dealing with the path planning for a spatial 4R robot with multiple spherical obstacles inside the workspace. In this paper, a time efficient algorithm has been developed to determine a collision free path for the end effector tip of the robot with a single spherical obstacle inside the workspace. A truncated pyramid and a right circular torus are used to model the nonreachable workspaces of the end effector tip of the robot. The problem of guiding the spatial 4R manipulator while avoiding a spherical obstacle is reduced to moving a point while avoiding a truncated pyramid and/or a right circular torus inside the workspace. The point represents the tip of the end effector of the manipulator. This approach produces an efficient algorithm for determining a collision free path. The algorithm has been successfully developed and implemented in the Silicon Graphics 4D-70GT workstation to verify the results.

Pigeon-inspired optimization: a new swarm intelligence optimizer for air robot path planning

2014 ◽  
Vol 7 (1) ◽  
pp. 24-37 ◽  
Author(s):  
Haibin Duan ◽  
Peixin Qiao
Keyword(s):  
Path Planning ◽  
Swarm Intelligence ◽  
Implementation Process ◽  
Robot Path Planning ◽  
Operator Model ◽  
Content Type ◽  
De Algorithm ◽  
The Mathematical Model ◽  
Planning Problems ◽  
Robot Path

Purpose – The purpose of this paper is to present a novel swarm intelligence optimizer — pigeon-inspired optimization (PIO) — and describe how this algorithm was applied to solve air robot path planning problems. Design/methodology/approach – The formulation of threat resources and objective function in air robot path planning is given. The mathematical model and detailed implementation process of PIO is presented. Comparative experiments with standard differential evolution (DE) algorithm are also conducted. Findings – The feasibility, effectiveness and robustness of the proposed PIO algorithm are shown by a series of comparative experiments with standard DE algorithm. The computational results also show that the proposed PIO algorithm can effectively improve the convergence speed, and the superiority of global search is also verified in various cases. Originality/value – In this paper, the authors first presented a PIO algorithm. In this newly presented algorithm, map and compass operator model is presented based on magnetic field and sun, while landmark operator model is designed based on landmarks. The authors also applied this newly proposed PIO algorithm for solving air robot path planning problems.

Path Planning in a Mobile Robot

2013 ◽  
pp. 123-147
Author(s):  
Diego Alexander Tibaduiza Burgos ◽  
Maribel Anaya Vejar
Keyword(s):  
Genetic Algorithms ◽  
Path Planning ◽  
Mobile Robot ◽  
Fitness Function ◽  
Experimental Setup ◽  
Robot Path Planning ◽  
Natural Evolution ◽  
On Line ◽  
Planning Problems ◽  
Robot Path

This chapter presents the development and implementation of three approaches that contribute to solving the mobile robot path planning problems in dynamic and static environments. The algorithms include some items regarding the implementation of on-line and off-line situations in an environment with static and mobile obstacles. A first technique involves the use of genetic algorithms where a fitness function and the emulation of the natural evolution are used to find a free-collision path. The second and third techniques consider the use of potential fields for path planning using two different ways. Brief descriptions of the techniques and experimental setup used to test the algorithms are also included. Finally, the results applying the algorithms using different obstacle configurations are presented and discussed.

Robot Path Planning by Means of Binary Algebra

1991 ◽  
Author(s):  
Nicholas J. Yannoulakis ◽  
Richard A. Wysk
Keyword(s):  
Path Planning ◽  
Robot Control ◽  
Dimensional Space ◽  
Target Position ◽  
Search Procedure ◽  
Two Dimensional ◽  
Robot Path Planning ◽  
Specific Domain ◽  
Binary Strings ◽  
Robot Path

Abstract The issues of robot path planning and collision avoidance have been addressed extensively in literature. This paper examines these problems for a specific domain: that of a rectangular gripper moving in a two-dimensional space of iso-oriented rectangular obstacles. The free space is represented by a set of binary strings. These strings are manipulated through Boolean algebra to yield the largest convex areas in which the gripper can move without colliding with any obstacles. The largest convex areas then become the nodes of two networks (one for each of the orthogonal orientations of the gripper), the arcs of which indicate the possible gripper paths and roll locations. Based on these networks, a search procedure can produce the shortest path from a start to a target position. This algorithm is easy to implement on a PC and will go from a workspace representation to robot control commands.

Relaxed Dijkstra and A* with linear complexity for robot path planning problems in large-scale grid environments

2015 ◽  
Vol 20 (10) ◽  
pp. 4149-4171 ◽  
Author(s):  
Adel Ammar ◽  
Hachemi Bennaceur ◽  
Imen Châari ◽  
Anis Koubâa ◽  
Maram Alajlan
Keyword(s):  
Path Planning ◽  
Large Scale ◽  
Linear Complexity ◽  
Robot Path Planning ◽  
Grid Environments ◽  
Large Scale Grid ◽  
Planning Problems ◽  
Scale Grid ◽  
Robot Path
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