Sampling-Based Motion Planning
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چکیده
منابع مشابه
Current Issues in Sampling-Based Motion Planning
In this paper, we discuss the field of sampling-based motion planning. In contrast to methods that construct boundary representations of configuration space obstacles, sampling-based methods use only information from a collision detector as they search the configuration space. The simplicity of this approach, along with increases in computation power and the development of efficient collision d...
متن کاملA Fast Optimal Sampling-based Motion Planning Algorithm based on the Poisson-Disk Sampling Distribution
Sampling-based motion planning algorithms have been proven to work well with difficult planning tasks in a variety of problems. Recently, asymptotic optimal algorithms have been proposed to overcome the non-optimality inefficiency of these planners but with extra computational costs associated with the additional processing requirements. In this paper, new extensions of optimal sampling-based m...
متن کاملSampling-based robot motion planning: Towards realistic applications
This paper presents some of the recent improvements in sampling-based robot motion planning. Emphasis is placed on work that brings motion-planning algorithms closer to applicability in real environments. Methods that approach increasingly difficult motion planning problems including kinodynamic motion planning and dynamic environments are discussed. The ultimate goal for such methods is to gen...
متن کاملExploiting Structure: A Guided Approach to Sampling-Based Robot Motion Planning
Exploiting Structure: A Guided Approach to Sampling-Based Robot Motion Planning
متن کاملSampling-Based Motion Planning under Kinematic Loop-Closure Constraints
Kinematic loop-closure constraints significantly increase the difficulty of motion planning for articulated mechanisms. Configurations of closed-chain mechanisms do not form a single manifold, easy to parameterize, as the configurations of open kinematic chains. In general, they are grouped into several subsets with complex and a priori unknown topology. Sampling-based motion planning algorithm...
متن کاملLoad Balancing Techniques for Scalable Parallelization of Sampling-Based Motion Planning Algorithms
Motion planning, which is the problem of computing feasible paths through an environment for a movable object, has applications in many domains ranging from robotics, to intelligent CAD, to protein folding. The best methods for solving this PSPACE-hard problem are so-called sampling-based planners. Recent work introduced uniform spatial subdivision techniques for parallelizing sampling-based mo...
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تاریخ انتشار 2006