A Geometric Path Planner for Car-Like Robots

1999 ◽  
Author(s):  
Shiang-Fong Chen ◽  
Jiansong Deng
Keyword(s):  
Geometric Method ◽  
Configuration Spaces ◽  
Kinematic Constraints ◽  
Path Planner ◽  
Flying Robots

Abstract This paper presents a simple geometric method for planning collision-free paths for car-like robots. A slabbing method, originally used for free-flying robots, is refined, by taking kinematic constraints and reversal maneuvers into account, for finding efficient nonholonomic paths. Successive configuration spaces are computed for different robot orientations. Resulting configuration spaces are called “orientation levels”. Each orientation level is slabbed by a group of parallel slabbing lines. The slopes of slabbing lines in each orientation level are positioned to have the same orientation as a robot in that level. The resulting slabbing lines act as “rails” to guide the robot. Thus, a robot can only translate straight forward or straight backward, if it keeps moving in a given orientation level. Limiting robot movement to straight forward or straight backward along slabbing lines prevents a robot from violating kinematic constraints, by moving sideways across slabbing lines. Our proposed algorithm has been fully implemented. Performance of our path planner is demonstrated by four examples.

A Geometric Path Planner for Car-like Robots

1999 ◽  
Vol 122 (3) ◽  
pp. 343-346 ◽  
Author(s):  
Shiang-Fong Chen ◽  
Jiansong Deng
Keyword(s):  
Kinematic Constraints ◽  
Nonholonomic Robots ◽  
Path Planner ◽  
Flying Robots

This technical brief presents a refined slabbing method, originally used for free-flying robots, for finding efficient paths for nonholonomic robots. Our method takes kinematic constraints and reversal maneuvers into account. We create orientation levels for each orientation configuration of the robot. The slopes of slabbing lines in each orientation level match the orientation of a robot in that level. The resulting slabbing lines act as “rails” to guide the robot. Thus, a robot, if it keeps moving in a given orientation level, can only translate straight forward or straight backward along a given slabbing line. Limiting robot movement to straight forward or straight backward along a slabbing line prevents the robot from violating kinematic constraints, by moving sideways to another slabbing line. [S1050-0472(00)01403-3]

Flying robots have their wings clipped

Nature ◽  
2008 ◽  
Author(s):  
Katharine Sanderson
Keyword(s):  
Flying Robots

Environmental Measurements Path Planner (EMPath) User's Manual

2012 ◽  
Author(s):  
Kevin D. Heaney ◽  
Richard L. Campbell ◽  
Richard H. Stroop ◽  
Lucy F. Smedstad ◽  
Germana Peggion
Keyword(s):  
Path Planner

scholarly journals Stringy canonical forms and binary geometries from associahedra, cyclohedra and generalized permutohedra

2020 ◽  
Vol 2020 (10) ◽  
Author(s):  
Song He ◽  
Zhenjie Li ◽  
Prashanth Raman ◽  
Chi Zhang
Keyword(s):  
Large Class ◽  
Configuration Space ◽  
Moduli Space ◽  
Cluster Algebras ◽  
Configuration Spaces ◽  
Minkowski Sum ◽  
Canonical Forms ◽  
Infinite Class ◽  
Special Cases ◽  
Generalized Associahedra

Abstract Stringy canonical forms are a class of integrals that provide α′-deformations of the canonical form of any polytopes. For generalized associahedra of finite-type cluster algebras, there exist completely rigid stringy integrals, whose configuration spaces are the so-called binary geometries, and for classical types are associated with (generalized) scattering of particles and strings. In this paper, we propose a large class of rigid stringy canonical forms for another class of polytopes, generalized permutohedra, which also include associahedra and cyclohedra as special cases (type An and Bn generalized associahedra). Remarkably, we find that the configuration spaces of such integrals are also binary geometries, which were suspected to exist for generalized associahedra only. For any generalized permutohedron that can be written as Minkowski sum of coordinate simplices, we show that its rigid stringy integral factorizes into products of lower integrals for massless poles at finite α′, and the configuration space is binary although the u equations take a more general form than those “perfect” ones for cluster cases. Moreover, we provide an infinite class of examples obtained by degenerations of type An and Bn integrals, which have perfect u equations as well. Our results provide yet another family of generalizations of the usual string integral and moduli space, whose physical interpretations remain to be explored.

scholarly journals Modules and Techniques for Motion Planning: An Industrial Perspective

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 420
Author(s):  
Stefano Quer ◽  
Luz Garcia
Keyword(s):  
Data Fusion ◽  
Autonomous Driving ◽  
Random Trees ◽  
Approximation Techniques ◽  
Main Research ◽  
Autonomous Cars ◽  
Critical Issues ◽  
Relative Errors ◽  
Path Planner ◽  
Many Core

Research on autonomous cars has become one of the main research paths in the automotive industry, with many critical issues that remain to be explored while considering the overall methodology and its practical applicability. In this paper, we present an industrial experience in which we build a complete autonomous driving system, from the sensor units to the car control equipment, and we describe its adoption and testing phase on the field. We report how we organize data fusion and map manipulation to represent the required reality. We focus on the communication and synchronization issues between the data-fusion device and the path-planner, between the CPU and the GPU units, and among different CUDA kernels implementing the core local planner module. In these frameworks, we propose simple representation strategies and approximation techniques which guarantee almost no penalty in terms of accuracy and large savings in terms of memory occupation and memory transfer times. We show how we adopt a recent implementation on parallel many-core devices, such as CUDA-based GPGPU, to reduce the computational burden of rapidly exploring random trees to explore the state space along with a given reference path. We report on our use of the controller and the vehicle simulator. We run experiments on several real scenarios, and we report the paths generated with the different settings, with their relative errors and computation times. We prove that our approach can generate reasonable paths on a multitude of standard maneuvers in real time.

scholarly journals Collision-free path planning for welding manipulator via hybrid algorithm of deep reinforcement learning and inverse kinematics

2021 ◽  
Author(s):  
Jie Zhong ◽  
Tao Wang ◽  
Lianglun Cheng
Keyword(s):  
Reinforcement Learning ◽  
Path Planning ◽  
Free Path ◽  
Inverse Kinematics ◽  
Multiple Dimensions ◽  
Continuous State ◽  
Planning Algorithm ◽  
Convergence Performance ◽  
Path Planner ◽  
Action Spaces

AbstractIn actual welding scenarios, an effective path planner is needed to find a collision-free path in the configuration space for the welding manipulator with obstacles around. However, as a state-of-the-art method, the sampling-based planner only satisfies the probability completeness and its computational complexity is sensitive with state dimension. In this paper, we propose a path planner for welding manipulators based on deep reinforcement learning for solving path planning problems in high-dimensional continuous state and action spaces. Compared with the sampling-based method, it is more robust and is less sensitive with state dimension. In detail, to improve the learning efficiency, we introduce the inverse kinematics module to provide prior knowledge while a gain module is also designed to avoid the local optimal policy, we integrate them into the training algorithm. To evaluate our proposed planning algorithm in multiple dimensions, we conducted multiple sets of path planning experiments for welding manipulators. The results show that our method not only improves the convergence performance but also is superior in terms of optimality and robustness of planning compared with most other planning algorithms.

Configuration spaces of n lines in affine (n + k)-space

2007 ◽  
Vol 146 (1) ◽  
pp. 5474-5482
Author(s):  
Margareta Boege ◽  
Luis Montejano
Keyword(s):  
Configuration Spaces

Design and validation testing of a complete paddy field-coverage path planner for a fully autonomous tillage tractor

2021 ◽  
Vol 208 ◽  
pp. 79-97
Author(s):  
Chan-Woo Jeon ◽  
Hak-Jin Kim ◽  
Changho Yun ◽  
Xiongzhe Han ◽  
Jung Hun Kim
Keyword(s):  
Paddy Field ◽  
Path Planner ◽  
Validation Testing
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