Online motion planning using incremental construction of medial axis

2004 ◽  
Author(s):  
E. Masehian ◽  
M.R. Amin-Naseri ◽  
S.E. Khadem
Keyword(s):  
Motion Planning ◽  
Medial Axis ◽  
Incremental Construction

Motion Planning Using Medial Axis

1992 ◽  
Vol 25 (28) ◽  
pp. 135-140 ◽  
Author(s):  
Yangsheng Xu ◽  
Raju Mattikalli ◽  
Pradeep Khosla
Keyword(s):  
Motion Planning ◽  
Medial Axis

scholarly journals A Grid-Based Motion Planning Approach for Coherent Groups

2014 ◽  
Vol 2014 ◽  
pp. 1-12
Author(s):  
Yue-wen Fu ◽  
Meng Li ◽  
Jia-hong Liang ◽  
Xiao-qian Hu
Keyword(s):  
Motion Planning ◽  
Medial Axis ◽  
Evaluation Function ◽  
Degree Relative ◽  
Deformation Degree ◽  
Probabilistic Roadmap ◽  
Planning Approach ◽  
Constant Area ◽  
Grid Based

This paper presents a novel motion planning approach for coherent groups with constant area, and it integrates C-L method into the probabilistic roadmap algorithm with sampling on the medial axis (MAPRM). In the preprocessing phase, the group is discretized into a grid-set which represents the configuration of the group. Then, a number of samples are generated on workspace by medial axis technique. These samples are extended into group’s configuration nodes of the roadmap using an extending strategy. Also, the group's deformation degree relative to the desired shape is introduced to improve the evaluation function. It gives users more flexibility to determine the respective weights of the group’s deformation degree and its distance to the goal in the query phase. After that, a novel local planner is constructed to connect any two neighbor configurations by using C-L method and the improved evaluation function. Experiments show that our approach is able to find paths for the coherent group efficiently and keep its area invariant when moving toward the goal.

A family of skeletons for motion planning and geometric reasoning applications

2011 ◽  
Vol 25 (4) ◽  
pp. 375-392
Author(s):  
Ata A. Eftekharian ◽  
Horea T. Ilieş
Keyword(s):  
Motion Planning ◽  
Medial Axis ◽  
A Priori ◽  
Three Dimensional ◽  
Geometric Reasoning ◽  
Spatial Configurations ◽  
Planning Algorithm ◽  
Logic Operations ◽  
Path Planning Algorithm ◽  
Special Case

AbstractThe task of planning a path between two spatial configurations of an artifact moving among obstacles is an important problem in practically all geometrically intensive applications. Despite the ubiquity of the problem, the existing approaches make specific limiting assumptions about the geometry and mobility of the obstacles, or those of the environment in which the motion of the artifact takes place. We present a strategy to construct a family of paths, or roadmaps, for two- and three-dimensional solids moving in an evolving environment that can undergo drastic topological changes. Our approach is based on a potent paradigm for constructing geometric skeletons that relies on constructive representations of shapes with R-functions that operate on real-valued half-spaces as logic operations. We describe a family of skeletons that have the same homotopy as that of the environment and contains the medial axis as a special case. Of importance, our skeletons can be designed so that they are “attracted to” or “repulsed by” prescribed spatial sites of the environment. Moreover, the R-function formulation suggests the new concept of a medial zone, which can be thought of as a “thick” skeleton with significant applications for motion planning and other geometric reasoning applications. Our approach can handle problems in which the environment is not fully known a priori, and intrinsically supports local and parallel skeleton computations for domains with rigid or evolving boundaries. Furthermore, our path planning algorithm can be implemented in any commercial geometric kernel, and has attractive computational properties. The capability of the proposed technique are explored through several examples designed to simulate highly dynamic environments.

Clearance-driven motion planning for mobile robots with differential constraints

Robotica ◽  
2018 ◽  
Vol 36 (7) ◽  
pp. 971-993 ◽  
Author(s):  
Evis Plaku ◽  
Erion Plaku ◽  
Patricio Simari
Keyword(s):  
Motion Planning ◽  
Medial Axis ◽  
Weighted Graph ◽  
Minimum Cost ◽  
Explicit Construction ◽  
Complex Environments ◽  
Differential Constraints ◽  
Cost Paths ◽  
Triangular Tessellation ◽  
High Clearance

SUMMARYThis paper presents an approach that integrates the geometric notion of clearance (distance to the closest obstacle) into sampling-based motion planning to enable a robot to safely navigate in challenging environments. To reach the goal destination, the robot must obey geometric and differential constraints that arise from the underlying motion dynamics and the characteristics of the environment. To produce safe paths, the proposed approach expands a motion tree of collision-free and dynamically feasible motions while maintaining locally maximal clearance. In distinction from related work, rather than explicitly constructing the medial axis, the proposed approach imposes a grid or a triangular tessellation over the free space and uses the clearance information to construct a weighted graph where edges that connect regions with low clearance have high cost. Minimum-cost paths over this graph produce high-clearance routes that tend to follow the medial axis without requiring its explicit construction. A key aspect of the proposed approach is a route-following component which efficiently expands the motion tree to closely follow such high-clearance routes. When expansion along the current route becomes difficult, edges in the tessellation are penalized in order to promote motion-tree expansions along alternative high-clearance routes to the goal. Experiments using vehicle models with second-order dynamics demonstrate that the robot is able to successfully navigate in complex environments. Comparisons to the state-of-the-art show computational speedups of one or more orders of magnitude.

scholarly journals A Geometric Investigation of the Skeleton of CSG Objects

1990 ◽  
Author(s):  
Debasish Dutta ◽  
Christoph M. Hoffmann
Keyword(s):  
Computer Vision ◽  
Motion Planning ◽  
Mesh Generation ◽  
Medial Axis ◽  
Geometric Analysis ◽  
Constructive Solid Geometry ◽  
Solid Geometry

Abstract We sketch an algorithm for computing the skeleton (medial-axis surface) of an object defined using constructive solid geometry (CSG). The skeleton can be used in blending, motion planning, medical tomography, computer vision, and in mesh generation. We also present a geometric analysis of Voronoi surfaces from which the skeleton is composed, for a large number of surface pairs arising often in practice.

A Path Clearance Optimization Method Based on Retraction Algorithm for Motion Planning

2014 ◽  
Vol 687-691 ◽  
pp. 1241-1244
Author(s):  
Fu Yu Yan ◽  
Fan Wu ◽  
Fei Peng ◽  
Zhi Jie Zhu
Keyword(s):  
Motion Planning ◽  
Real Time ◽  
Virtual Environment ◽  
Free Space ◽  
Medial Axis ◽  
Optimization Method

The retraction algorithm could make the whole path lie on the medial axis in 2D environment. However, it limits the initial and goal configuration lie on the medial axis. Therefore the paper proposed a path clearance optimization method to deal with the problem. The method retracted configurations of the original path to the medial axis. Then it added the retracted configurations, the initial and goal configuration to the retracted path. We apply R-retraction algorithm to the local paths, but not to the local paths between the initial, goal configuration and their retracted configurations. Finally, we proposed a method to remove the branches. We validated the algorithm in virtual environment. The experiments showed that the optimization method could make the whole retracted path lie on the medial axis and the start and goal configuration lie on any free space. Also the proposed method can get paths with maximum clearance in 2D environment in real-time.

On the Skeleton of Simple CSG Objects

1993 ◽  
Vol 115 (1) ◽  
pp. 87-94 ◽  
Author(s):  
D. Dutta ◽  
C. M. Hoffmann
Keyword(s):  
Computer Vision ◽  
Motion Planning ◽  
Mesh Generation ◽  
Minimum Distance ◽  
Medial Axis

The skeleton (medial-axis surface) of an object is the locus of all points in the object’s interior that have equal minimum distance from at least two distinct parts of the boundary. The skeleton can be used in blending, motion planning, medical tomography, computer vision, and in mesh generation. We discuss some simple but frequently encountered shape elements of the skeleton of CSG objects, and investigate properties of trimming surfaces delimiting the faces of skeletons.

On Improving Path Clearance Optimization Method for Motion Planning

2014 ◽  
Vol 926-930 ◽  
pp. 3128-3131
Author(s):  
Fu Yu Yan ◽  
Fan Wu ◽  
Fei Peng ◽  
Zhi Jie Zhu
Keyword(s):  
Motion Planning ◽  
Free Space ◽  
Medial Axis ◽  
Optimization Method ◽  
Binary Search ◽  
Experimental Results ◽  
Improve Efficiency ◽  
Collision Problem

The efficiency of path clearance optimization method is low and the corresponding path may collide with obstacles when applying it to the original path planned by RRTConCon algorithm. The paper analyzed the original path clearance and corridor width and chose proper moving distance towards the medial axis and binary search step. The paper also analyzed the collision reason and proposed an method to deal with it. The method moves collision configurations to the free space and retracts them to the medial axis, then adds them to the retracted path. The experimental results showed the measures are effective to improve efficiency and could deal with collision problem.

Sign in / Sign up

Export Citation Format

Share Document