scholarly journals Impact of workspace decompositions on discrete search leading continuous exploration (DSLX) motion planning

2008 ◽  
Author(s):  
E. Plaku ◽  
L.E. Kavraki ◽  
M.Y. Vardi
Keyword(s):  
Motion Planning ◽  
Discrete Search

scholarly journals Efficient Path Planing for Articulated Vehicles in Cluttered Environments

Sensors ◽  
2020 ◽  
Vol 20 (23) ◽  
pp. 6821
Author(s):  
Ricardo Samaniego ◽  
Rodrigo Rodríguez ◽  
Fernando Vázquez ◽  
Joaquín López
Keyword(s):  
Motion Planning ◽  
High Dimensional ◽  
Kinematics And Dynamics ◽  
Challenging Problem ◽  
Service Robotics ◽  
Cluttered Environments ◽  
Planning And Control ◽  
Discrete Search ◽  
Articulated Vehicles ◽  
And Control

Motion planning and control for articulated logistic vehicles such as tugger trains is a challenging problem in service robotics. The case of tugger trains presents particular difficulties due to the kinematic complexity of these multiarticulated vehicles. Sampling-based motion planners offer a motion planning solution that can take into account the kinematics and dynamics of the vehicle. However, their planning times scale poorly for high dimensional systems, such as these articulated vehicles moving in a big map. To improve the efficiency of the sampling-based motion planners, some approaches combine these methods with discrete search techniques. The goal is to direct the sampling phase with heuristics provided by a faster, precociously ran, discrete search planner. However, sometimes these heuristics can mislead the search towards unfeasible solutions, because the discrete search planners do not take into account the kinematic and dynamic restrictions of the vehicle. In this paper we present a solution adapted for articulated logistic vehicles that uses a kinodynamic discrete planning to bias the sampling-based algorithm. The whole system has been applied in two different towing tractors (a tricycle and a quadricycle) with two different trailers (simple trailer and synchronized shaft trailer).

Extending and evaluating the posture-based model of motion planning

2006 ◽  
Author(s):  
Jonathan Vaughan ◽  
Steven Jax ◽  
David A. Rosenbaum
Keyword(s):  
Motion Planning

Motion Planning in ROS

2012 ◽  
Author(s):  
Ioan Sucan ◽  
Sachin Chitta
Keyword(s):  
Motion Planning

New Approaches in Randomized Preprocessing for Motion Planning,

1995 ◽  
Author(s):  
Sumanta Guha ◽  
Rama D. Puvvada ◽  
Deepti Suri ◽  
Ichiro Suzuki
Keyword(s):  
Motion Planning ◽  
New Approaches
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