Heuristic approach to dynamic motion planning for multi-link planar manipulators in a sparse, time varying environment

2002 ◽  
Author(s):  
K. Hamilton ◽  
G.I. Dodds
Keyword(s):  
Motion Planning ◽  
Heuristic Approach ◽  
Time Varying ◽  
Dynamic Motion ◽  
Planar Manipulators ◽  
Time Varying Environment ◽  
Dynamic Motion Planning ◽  
Varying Environment

scholarly journals Motion Planning for Mobile Robots in a Time-Varying Environment: A Survey

1996 ◽  
Vol 8 (1) ◽  
pp. 15-24 ◽  
Author(s):  
Takashi Tsubouchi ◽  
◽  
Markus Rude
Keyword(s):  
Motion Planning ◽  
Robot Motion ◽  
Robot Motion Planning ◽  
Time Varying ◽  
Major Goal ◽  
Research Papers ◽  
Moving Obstacles ◽  
Time Varying Environment ◽  
Varying Environment ◽  
Cooperative Planning

This survey reviews research papers dealing with mobile robot motion planning among moving obstacles. The major goal is collision avoidance of an individual robot: Cooperative planning is treated only peripherally.

Minimum-Speed Motions

1991 ◽  
Vol 10 (3) ◽  
pp. 228-239 ◽  
Author(s):  
Boris Aronov ◽  
Steven Fortune ◽  
Gordon Wilfong
Keyword(s):  
Maximum Velocity ◽  
Initial Position ◽  
Linear Constraints ◽  
Initial Configuration ◽  
Full Description ◽  
Speed Limit ◽  
Time Varying ◽  
Moving Obstacles ◽  
Time Varying Environment ◽  
Varying Environment

We consider the problem of determining how fast an object must be capable of moving for it to be able to reach a given position at a given time while avoiding moving obstacles. The problem is to plan velocity profile along a given path so that collisions with moving obstacles crossing the path are avoided and the maximum velocity along the path is mini mized. Suppose the time-varying environment is fully speci fied, both in space and in time, by n linear constraints. An algorithm is presented that, given a full description of the environment and the initial configuration of the system (that is, initial position and starting time of the object), answers in O(log n) time queries of the form : "What is the lowest speed limit that the object can obey while still being able to reach the query configuration from the initial configuration without colliding with the obstacles?" The algorithm can also be used to compute a motion from the initial configuration to the query configuration that obeys the speed limit in O (n ) time. The algorithm requires O (n log n) preprocessing time and O (n) space.

Simulated On-Line Process Optimization of a Robotic Materials Handling System

1986 ◽  
Vol 108 (3) ◽  
pp. 285-291
Author(s):  
M. S. King ◽  
J. K. Blundell
Keyword(s):  
Process Optimization ◽  
Kinematic Model ◽  
Industrial Robots ◽  
Time Varying ◽  
Optimization Strategy ◽  
Materials Handling ◽  
On Line ◽  
Line Process ◽  
Time Varying Environment ◽  
Varying Environment

Industrial robots in use today lack the total ability to perceive and interact with their environment. This limitation is a major obstacle confronting robotic systems developers. This work outlines an on-line process optimization strategy which allows a robot to work within a time-varying environment. After developing the kinematic model of the robot and its relationship to its environment, the process optimization strategy is simulated. The performance of the system is measured by using an index of performance and comparing the simulation results against a series of non-optimized models. The results indicate that on-line process optimization strategy significantly increases the performance of a robotic system operating in a time-varying environment.

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