Download or read book A Genetic based Approach to Robot Motion Planning Considering Path Safety written by Mingwu Chen and published by . This book was released on 1994 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Principles of Robot Motion written by Howie Choset and published by MIT Press. This book was released on 2005-05-20 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.

Download or read book Practical Motion Planning in Robotics written by Kamal Gupta and published by Chichester, England ; Toronto : J. Wiley. This book was released on 1998-10-15 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: Practical Motion Planning in Robotics Current Approaches and Future Directions Edited by Kamal Gupta Simon Fraser University, Burnaby, Canada Angel P. del Pobil Jaume-l University, Castellon, Spain Designed to bridge the gap between research and industry, Practical Motion Planning in Robotics brings theoretical advances to bear on real-world applications. Capitalizing on recent progress, this comprehensive study emphasizes the practical aspects of techniques for collision detection, obstacle avoidance, path planning and manipulation planning. The broad approach spans both model- and sensor-based motion planning, collision detection and geometric complexity, and future directions. Features include: - Review of state-of-the-art techniques and coverage of the main issues to be considered in the development of motion planners for use in real applications - Focus on gross motion planning for articulated arms enabling robots to perform non-contact tasks with relatively high tolerances plus brief consideration of mobile robots - The use of efficient algorithms to tackle incremental changes in the environment - Illlustration of robot motion planning applications in virtual prototyping and the shipbuilding industry - Demonstration of efficient path planners combining both local and global planning approaches in conjunction with efficient techniques for collision detection and distance computations - International contributions from academia and industry Combining theory and practice, this timely book will appeal to academic researchers and practising engineers in the fields of robotic systems, mechatronics and computer science.

Download or read book The Complexity of Robot Motion Planning written by John Canny and published by MIT Press. This book was released on 1988 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Complexity of Robot Motion Planning makes original contributions both to roboticsand to the analysis of algorithms. In this groundbreaking monograph John Canny resolveslong-standing problems concerning the complexity of motion planning and, for the central problem offinding a collision free path for a jointed robot in the presence of obstacles, obtains exponentialspeedups over existing algorithms by applying high-powered new mathematical techniques.Canny's newalgorithm for this "generalized movers' problem," the most-studied and basic robot motion planningproblem, has a single exponential running time, and is polynomial for any given robot. The algorithmhas an optimal running time exponent and is based on the notion of roadmaps - one-dimensionalsubsets of the robot's configuration space. In deriving the single exponential bound, Cannyintroduces and reveals the power of two tools that have not been previously used in geometricalgorithms: the generalized (multivariable) resultant for a system of polynomials and Whitney'snotion of stratified sets. He has also developed a novel representation of object orientation basedon unnormalized quaternions which reduces the complexity of the algorithms and enhances theirpractical applicability.After dealing with the movers' problem, the book next attacks and derivesseveral lower bounds on extensions of the problem: finding the shortest path among polyhedralobstacles, planning with velocity limits, and compliant motion planning with uncertainty. Itintroduces a clever technique, "path encoding," that allows a proof of NP-hardness for the first twoproblems and then shows that the general form of compliant motion planning, a problem that is thefocus of a great deal of recent work in robotics, is non-deterministic exponential time hard. Cannyproves this result using a highly original construction.John Canny received his doctorate from MITAnd is an assistant professor in the Computer Science Division at the University of California,Berkeley. The Complexity of Robot Motion Planning is the winner of the 1987 ACM DoctoralDissertation Award.

Download or read book Genetic Algorithm Essentials written by Oliver Kramer and published by Springer. This book was released on 2017-01-07 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces readers to genetic algorithms (GAs) with an emphasis on making the concepts, algorithms, and applications discussed as easy to understand as possible. Further, it avoids a great deal of formalisms and thus opens the subject to a broader audience in comparison to manuscripts overloaded by notations and equations. The book is divided into three parts, the first of which provides an introduction to GAs, starting with basic concepts like evolutionary operators and continuing with an overview of strategies for tuning and controlling parameters. In turn, the second part focuses on solution space variants like multimodal, constrained, and multi-objective solution spaces. Lastly, the third part briefly introduces theoretical tools for GAs, the intersections and hybridizations with machine learning, and highlights selected promising applications.

Download or read book A Case based Approach to Robot Motion Planning written by Sandeep Pandya and published by . This book was released on 1992 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.

Download or read book Real time Motion Planning and Safe Navigation in Dynamic Multi robot Environments written by James Robert Bruce and published by . This book was released on 2006 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: All mobile robots share the need to navigate, creating the problem of motion planning. In multi-robot domains with agents acting in parallel, highly complex and unpredictable dynamics can arise. This leads to the need for navigation calculations to be carried out within tight time constraints, so that they can be applied before the dynamics of the environment make the calculated answer obsolete. At the same time, we want the robots to navigate robustly and operate safely without collisions. While motion planning has been used for high level robot navigation, or limited to semi-static or single-robot domains, it has often been dismissed for the real-time low-level control of agents due to the limited computational time and the unpredictable dynamics. Many robots now rely on local reactive methods for immediate control of the robot, but if the reason for avoiding motion planning is execution speed, the answer is to find planners that can meet this requirement. Recent advances in traditional path planning algorithms may offer hope in resolving this type of scalability, if they can be adapted to deal with the specific problems and constraints mobile robots face. Also, in order to maintain safety, new scalable methods for maintaining collision avoidance among multiple robots are needed in order to free motion planners from the "curse of dimensionality" when considering the safety of multiple robots with realistic physical dynamics constraints. This thesis contributes the pairing of real-time motion planning which builds on existing modern path planners, and a novel cooperative dynamics safety algorithm for high speed navigation of multiple agents in dynamic domains. It also explores near real-time kinematically limited motion planning for more complex environments. The thesis algorithms have been fully implemented and tested with success on multiple real robot platforms.

Download or read book Computational Science and Its Applications ICCSA 2006 written by Marina Gavrilova and published by Springer Science & Business Media. This book was released on 2006 with total page 1272 pages. Available in PDF, EPUB and Kindle. Book excerpt: The five-volume set LNCS 3980-3984 constitutes the refereed proceedings of the International Conference on Computational Science and Its Applications, ICCSA 2006, held in Glasgow, UK in May 2006.The five volumes present a total of 664 papers selected from over 2300 submissions. The papers present a wealth of original research results in the field of computational science, from foundational issues in computer science and mathematics to advanced applications in virtually all sciences making use of computational techniques. The topics of the refereed papers are structured according to the five major conference themes: computational methods, algorithms and applications high performance technical computing and networks advanced and emerging applications geometric modelling, graphics and visualization information systems and information technologies.Moreover, submissions from 31 Workshops and technical sessions in the areas, such as information security, mobile communication, grid computing, modeling, optimization, computational geometry, virtual reality, symbolic computations, molecular structures, Web systems and intelligence, spatial analysis, bioinformatics and geocomputations, contribute to this publication.

Download or read book Obstacle Avoidance in Multi robot Systems written by Mark A. C. Gill and published by World Scientific. This book was released on 1998 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: Obstacle Avoidance in Multi-robot Systems: Experiments in Parallel Genetic Algorithms offers a novel framework for solving the path planning problem for robot manipulators. Simple and efficient solutions are proposed for the path planning problem based on genetic algorithms. One of the attractive features of genetic algorithms is their ability to solve formidable problems in a robust and straightforward manner. Moreover, genetic algorithms are inherently parallel in nature, which makes them ideal candidates for parallel computing implementations.By combining the robustness of genetic algorithms with the power of parallel computers, this book provides an effective and practical approach to solving path planning problems. The book gives details of implementations that allow a better understanding of the complexities involved in the development of parallel path planning algorithms. The material presented is interdisciplinary in nature ? it combines topics from robotics, genetic algorithms, and parallel processing. The book can be used by practitioners and researchers in computer science and engineering.

Download or read book 18th International Conference on Soft Computing Models in Industrial and Environmental Applications SOCO 2023 written by Pablo García Bringas and published by Springer Nature. This book was released on 2023-10-01 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book of Advances in Intelligent and Soft Computing contains accepted papers presented at SOCO 2023 conference held in the beautiful and historic city of Salamanca (Spain) in September 2023. Soft computing represents a collection or set of computational techniques in machine learning, computer science, and some engineering disciplines, which investigate, simulate, and analyze very complex issues and phenomena. After a through peer-review process, the 18th SOCO 2023 International Program Committee selected 61 papers which are published in these conference proceedings and represents an acceptance rate of 60%. In this relevant edition, a particular emphasis was put on the organization of special sessions. Seven special sessions were organized related to relevant topics such as: Time Series Forecasting in Industrial and Environmental Applications, Technological Foundations and Advanced Applications of Drone Systems, Soft Computing Methods in Manufacturing and Management Systems, Efficiency and Explainability in Machine Learning and Soft Computing, Machine Learning and Computer Vision in Industry 4.0, Genetic and Evolutionary Computation in Real World and Industry, and Soft Computing and Hard Computing for a Data Science Process Model. The selection of papers was extremely rigorous to maintain the high quality of the conference. We want to thank the members of the Program Committees for their hard work during the reviewing process. This is a crucial process for creating a high-standard conference; the SOCO conference would not exist without their help.

Download or read book Safe Navigation for Bipedal Robots in Static Environments written by Archit S. Rede and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Motion planning is a field with a large body of research, ranging from applications to industrial robotics to mobile robotics. A*, RRT, and RRT* are used as a basis for the preliminary results due to their versatility. In particular, A* provides a simple implementation that can be combined with other methods of local planning or upgraded with improved versions of A*. RRTs can be improved by modifying the local planner, sampling, and other parameters that may allow for asymptotic optimality as well as safety. Many methods have been proposed in recent and past literature that attempt to solve safe motion planning problems such as learning-based, grid-based, etc. The problem of safe bipedal navigation is based on the need to find a path or trajectory that allows for the center-of-mass (CoM) and the footsteps to be planned safely within the configuration space (C-space). The motion planning framework proposed will first use A*, RRT, and RRT* as a basis for solving the 2D path planning problem by implementing the algorithms on both toy datasets as well as occupancy maps. The map processing will allow the discrete occupancy map to be converted to a usable C-space for the chosen RRT* algorithm. Then the framework will simulate the robot, Digit, in the Agility Robotics (AR) simulator using a PID controller. The results showed that the map processing algorithm successfully creates a C-space. Additionally, initial safety results are provided for A* and RRTs, which show the strict safety and lenient safety, which is successfully implemented by modifying the input grid data. Finally, the PID results showed that the planned path can be followed relatively closely to the desired RRT* waypoint path. The next steps to improve the framework using chance-constrained path planning, hybrid A*, and possibly learning-based approaches.

Download or read book Connectionist Robot Motion Planning written by Bartlett Mel and published by Elsevier. This book was released on 2013-07-19 with total page 183 pages. Available in PDF, EPUB and Kindle. Book excerpt: Connectionist Robot Motion Planning: A Neurally-Inspired Approach to Visually-Guided Reaching is the third series in a cluster of books on robotics and related areas as part of the Perspectives in Artificial Intelligence Series. This series focuses on an experimental paradigm using the MURPHY system to tackle critical issues surrounding robot motion planning. MURPHY is a robot-camera system developed to explore an approach to the kinematics of sensory-motor learning and control for a multi-link arm. Organized into eight chapters, this book describes the guiding of a multi-link arm to visual targets in a cluttered workspace. It primarily focuses on “ecological solutions that are relevant to the typical visually guided reaching behaviors of humans and animals in natural environments. Algorithms that work well in unmodeled workspaces whose effective layouts can change from moment to moment with movements of the eyes, head, limbs, and body are also presented. This book also examines the strengths of neurally inspired connectionist representations and the utility of heuristic search when good performance, even if suboptimal, is adequate for the task. The co-evolution of MURPHY’s design with the brain, presumably in response to similar computational pressures, is described in the concluding chapters, specifically presenting the division of labor between programmed-feedforward and visual-feedback modes of limb control. Design engineers in the fields of biology, neurophysiology, and cognitive psychology will find this book of great value.

Download or read book On Motion Planning Using Numerical Optimal Control written by Kristoffer Bergman and published by Linköping University Electronic Press. This book was released on 2019-05-28 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decades, motion planning for autonomous systems has become an important area of research. The high interest is not the least due to the development of systems such as self-driving cars, unmanned aerial vehicles and robotic manipulators. In this thesis, the objective is not only to find feasible solutions to a motion planning problem, but solutions that also optimize some kind of performance measure. From a control perspective, the resulting problem is an instance of an optimal control problem. In this thesis, the focus is to further develop optimal control algorithms such that they be can used to obtain improved solutions to motion planning problems. This is achieved by combining ideas from automatic control, numerical optimization and robotics. First, a systematic approach for computing local solutions to motion planning problems in challenging environments is presented. The solutions are computed by combining homotopy methods and numerical optimal control techniques. The general principle is to define a homotopy that transforms, or preferably relaxes, the original problem to an easily solved problem. The approach is demonstrated in motion planning problems in 2D and 3D environments, where the presented method outperforms both a state-of-the-art numerical optimal control method based on standard initialization strategies and a state-of-the-art optimizing sampling-based planner based on random sampling. Second, a framework for automatically generating motion primitives for lattice-based motion planners is proposed. Given a family of systems, the user only needs to specify which principle types of motions that are relevant for the considered system family. Based on the selected principle motions and a selected system instance, the algorithm not only automatically optimizes the motions connecting pre-defined boundary conditions, but also simultaneously optimizes the terminal state constraints as well. In addition to handling static a priori known system parameters such as platform dimensions, the framework also allows for fast automatic re-optimization of motion primitives if the system parameters change while the system is in use. Furthermore, the proposed framework is extended to also allow for an optimization of discretization parameters, that are are used by the lattice-based motion planner to define a state-space discretization. This enables an optimized selection of these parameters for a specific system instance. Finally, a unified optimization-based path planning approach to efficiently compute locally optimal solutions to advanced path planning problems is presented. The main idea is to combine the strengths of sampling-based path planners and numerical optimal control. The lattice-based path planner is applied to the problem in a first step using a discretized search space, where system dynamics and objective function are chosen to coincide with those used in a second numerical optimal control step. This novel tight combination of a sampling-based path planner and numerical optimal control makes, in a structured way, benefit of the former method’s ability to solve combinatorial parts of the problem and the latter method’s ability to obtain locally optimal solutions not constrained to a discretized search space. The proposed approach is shown in several practically relevant path planning problems to provide improvements in terms of computation time, numerical reliability, and objective function value.

Download or read book Robot Path Planning Using a Genetic Algorithm Approach written by Hong Hao and published by . This book was released on 1994 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Adaptive State Time Lattices A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments written by Petereit, Janko and published by KIT Scientific Publishing. This book was released on 2017-01-20 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robot motion planning in unstructured dynamic environments is a challenging task. Thus, often suboptimal methods are employed which perform global path planning and local obstacle avoidance separately. This work introduces a holistic planning algorithm which is based on the concept of state.

Download or read book Optimized Motion Planning written by Cherif Ahrikencheikh and published by Wiley-Interscience. This book was released on 1994-10-14 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt: The first handbook to the practical specifics of motion planning, Optimized-Motion Planning offers design engineers methods and insights for solving real motion planning problems in a 3-dimensional space. Complete with a disk of software programs, this unique guide allows users to design, test, and implement possible solutions, useful in a host of contexts, especially tool path planning. Beginning with a brief overview of the general class of problems examined within the book as well as available solution techniques, Part 1 familiarizes the reader with the conceptual threads that underlie each approach. This early discussion also considers the specific applications of each technique as well as its computational efficiency. Part 2 illustrates basic problem-solving methodology by considering the case of a point moving between stationary polygons in a plane. This section features algorithms for data organization and storage, the concepts of passage networks and feasibility charts, as well as the path optimization algorithm. Elaborating on the problematic model described in Part 2, Part 3 develops an algorithm for optimizing the motion of a point between stationary polyhedra in a 3-dimensional space. This algorithm is first applied to the case of nonpoint objects moving between obstacles that can be stationary or moving with known patterns. It's then used in connection with the extensively investigated problem of motion planning for multilink manipulators.