Path homotopy invariants and their application to optimal trajectory planning
نویسندگان
چکیده
منابع مشابه
Path Homotopy Invariants and their Application to Optimal Trajectory Planning
We consider the problem of optimal path planning in different homotopy classes in a given environment. Though important in applications to robotics, homotopy path-planning in applications usually focuses on subsets of the Euclidean plane. The problem of finding optimal trajectories in different homotopy classes in more general configuration spaces (or even characterizing the homotopy classes of...
متن کاملFlight Trajectory Path Planning
The paper describes an application of the A* algorithm for flight path planning for airplanes with defined motion dynamics operating in a continuous three-dimensional space constrained by existing physical obstacles. The presented A* algorithm modification provides significant acceleration (reduction of the state space) of the path planning process. The described algorithm is able to find a pat...
متن کاملOptimal Trajectory Planning of a Box Transporter Mobile Robot
This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...
متن کاملPath-Velocity Decomposition Revisited and Applied to Dynamic Trajectory Planning
| This paper addresses dynamic trajectory planning, which is deened as motion planning for a robot A moving in a dynamic workspace W, i.e. a workspace cluttered up with stationary and moving obstacles. Besides A is subject both to kinematic constraints, i.e. constraints involving the connguration parameters of A and their derivatives, and dynamic constraints, i.e. constraints on the forces, the...
متن کاملPath-constrained Trajectory Planning and Time-independent Motion Control: Application to a Forestry Crane
In this paper we consider the problem of motion planning and control of a kinematically redundant manipulator which is used on forestry machines for logging. Once a desired path is specified in the 3D world frame, a trajectory can be planned and executed such that all joints are synchronized and path-constrained. A speed profile can be chosen according to particular costs (time, fuel consumptio...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Annals of Mathematics and Artificial Intelligence
سال: 2018
ISSN: 1012-2443,1573-7470
DOI: 10.1007/s10472-018-9596-8