Download or read book A Three dimensional Collision free Robot Path Planning Algorithm Using Network Optimization Approach written by Piyush Kumar Jain and published by . This book was released on 1989 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Two Dimensional and Three Dimensional Path Planning in Robotics written by Hyun Suk Kim and published by . This book was released on 1988 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Collision free Path Planning in the Three dimensional Work Space of a Revolute Robot written by Oluwatolamise Adeodu and published by . This book was released on 1994 with total page 380 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Optimizing Path Planning in 3D Environments with Reinforcement Learning and Sampling based Algorithms written by Wensi Huang and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Motion planning (also known as path planning) is a fundamental problem in the field of robotics and autonomous systems, where the objective is to find a collision-free path for an agent from a starting position to a goal state. Despite the importance of motion planning, comparing the performance of various algorithms under the same environment has been rarely explored. Furthermore, the lack of sufficient evaluation metrics in reinforcement learning (RL) studies can hinder the understanding of each algorithm's performance. This thesis investigates the problem of finding the optimal path in 3D environments using both sampling-based and RL algorithms. The study evaluates the performance of six algorithms, including Rapidly-exploring Random Trees (RRT), RRT*, Q-learning, Deep Q-Network (DQN), Trust Region Policy Optimization (TRPO), and Proximal Policy Optimization (PPO), while considering the impact of different features in complex 3D spaces. Simulation results indicate that RRT* outperforms other algorithms in completing a specific path planning task in a 3D grid map. The significance of this study lies in providing a comprehensive comparison of different path planning algorithms under the same environment and evaluating them using various metrics. This evaluation can serve as a useful guide for selecting an appropriate algorithm to solve specific motion planning problems.

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.

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 Proceedings of 2023 the 6th International Conference on Mechanical Engineering and Applied Composite Materials written by Xiaowei Yue and published by Springer Nature. This book was released on with total page 431 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Lighter than Air Robots written by Yasmina Bestaoui Sebbane and published by Springer Science & Business Media. This book was released on 2011-11-15 with total page 263 pages. Available in PDF, EPUB and Kindle. Book excerpt: An aerial robot is a system capable of sustained flight with no direct human control and able to perform a specific task. A lighter than air robot is an aerial robot that relies on the static lift to balance its own weight. It can also be defined as a lighter than air unmanned aerial vehicle or an unmanned airship with sufficient autonomy. Lighter than air systems are particularly appealing since the energy to keep them airborne is small. They are increasingly considered for various tasks such as monitoring, surveillance, advertising, freight carrier, transportation. This book familiarizes readers with a hierarchical decoupled planning and control strategy that has been proven efficient through research. It is made up of a hierarchy of modules with well defined functions operating at a variety of rates, linked together from top to bottom. The outer loop, closed periodically, consists of a discrete search that produces a set of waypoints leading to the goal while avoiding obstacles and weighed regions. The second level smoothes this set so that the generated paths are feasible given the vehicle's velocity and accelerations limits. The third level generates flyable, timed trajectories and the last one is the tracking controller that attempts to minimize the error between the robot measured trajectory and the reference trajectory. This hierarchy is reflected in the structure and content of the book. Topics treated are: Modelling, Flight Planning, Trajectory Design and Control. Finally, some actual projects are described in the appendix. This volume will prove useful for researchers and practitioners working in Robotics and Automation, Aerospace Technology, Control and Artificial Intelligence.

Download or read book 8th International Conference on Computing Control and Industrial Engineering CCIE2024 written by Yuriy S. Shmaliy and published by Springer Nature. This book was released on with total page 643 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Collision Free Path Planning Algorithms for Robot Navigation Problem written by Kyung Min Han and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Path planning problem, including maze navigation is a challenging topic in robotics. Indeed, a significant amount of research has been devoted to this problem in recent years. Genetic algorithm is a popular approach that searches for an optimal solution in given set of solutions. Considering via points as genes in a chromosome will provide a number of possible solutions on a grid map of paths. In this case, path distances that each chromosome creates can be regarded as a fitness measure for the corresponding chromosome. In some cases, a solution path passes through an obstacle. Assuming that the shape of an obstacle is a circle, such random solutions can easily be eliminated by setting-up simple equation between a line created by two via points and the obstacle. The ant colony optimization algorithm is another approach to solve this problem. Each ant drops a quantity of artificial pheromone on every point that the ant passes through. This pheromone simply changes the probability that the next ant becomes attracted to a particular grid point. Since each ant will make a decision at every grid point that it encounters, it is possible that an ant may wander around the grid map or may become stuck among local grid points. In order to prevent this phenomena the proposed solution adapted a global attraction term which guides ants to head toward the destination point. This thesis addresses methods of the path finding problem using these two different approaches. Both algorithms are tested and compared in the result section. The experiment results demonstrate that these two methods have a great potential to solve the proposed problem.

Download or read book 2020 24th International Conference on System Theory Control and Computing ICSTCC written by IEEE Staff and published by . This book was released on 2020-10-08 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The Joint Conference is for the seventh time organized in this format The main goal of this conference is to provide a multidisciplinary forum between researchers from industry and academia to discuss state of the art topics in system theory, control and computing, and to present recent research results and prospects for development in this evolving area

Download or read book Intelligent Robotics and Applications written by Caihua Xiong and published by Springer. This book was released on 2008-10-14 with total page 1315 pages. Available in PDF, EPUB and Kindle. Book excerpt: These two volumes constitute the refereed proceedings of the First International Conference on Intelligent Robotics and Applications, ICIRA 2008, held in Wuhan, China, in October 2008. The 265 revised full papers presented were thoroughly reviewed and selected from 552 submissions; they are devoted but not limited to robot motion planning and manipulation; robot control; cognitive robotics; rehabilitation robotics; health care and artificial limb; robot learning; robot vision; human-machine interaction & coordination; mobile robotics; micro/nano mechanical systems; manufacturing automation; multi-axis surface machining; realworld applications.

Download or read book Robot Path Planning by Decomposition written by Arjang Hourtash and published by . This book was released on 1999 with total page 688 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Fuzzy Systems and Data Mining IV written by A.J. Tallón-Ballesteros and published by IOS Press. This book was released on 2018-11-06 with total page 990 pages. Available in PDF, EPUB and Kindle. Book excerpt: Big Data Analytics is on the rise in the last years of the current decade. Data are overwhelming the computation capacity of high performance servers. Cloud, grid, edge and fog computing are a few examples of the current hype. Computational Intelligence offers two faces to deal with the development of models: on the one hand, the crisp approach, which considers for every variable an exact value and, on the other hand, the fuzzy focus, which copes with values between two boundaries. This book presents 114 papers from the 4th International Conference on Fuzzy Systems and Data Mining (FSDM 2018), held in Bangkok, Thailand, from 16 to 19 November 2018. All papers were carefully reviewed by program committee members, who took into consideration the breadth and depth of the research topics that fall within the scope of FSDM. The acceptance rate was 32.85% . Offering a state-of-the-art overview of fuzzy systems and data mining, the publication will be of interest to all those whose work involves data 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 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 Collision Free Path Planning in Robot Cells Using Virtual 3D Collision Sensors written by Tomislav Reichenbach and published by . This book was released on 2005 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: