Sampling-based Motion Planning with Differential Constraints By
نویسنده
چکیده
منابع مشابه
Replanning: A Powerful Planning Strategy for Systems with Differential Constraints
Motion planning is a fundamental problem in robotics. When the differential constraints of a real robot are also modelled, the produced motions can be more realistic and make better use of the hardware’s capabilities. While it is not known if planning under differential constraints is a decidable problem and complete tractable algorithms are not available, sampling-based planners have been very...
متن کاملSample-based motion planning in high-dimensional and differentially-constrained systems
State of the art sample-based path planning algorithms, such as the Rapidly-exploring Random Tree (RRT), have proven to be effective in path planning for systems subject to complex kinematic and geometric constraints. The performance of these algorithms, however, degrade as the dimension of the system increases. Furthermore, sample-based planners rely on distance metrics which do not work well ...
متن کاملLearning Sampling Distributions for Robot Motion Planning
A defining feature of sampling-based motion planning is the reliance on an implicit representation of the state space, which is enabled by a set of probing samples. Traditionally, these samples are drawn either probabilistically or deterministically to uniformly cover the state space. Yet, the motion of many robotic systems is often restricted to “small” regions of the state space, due to e.g. ...
متن کاملMultimedia Contents Motion Plan 139 Part A | 7 . 1 7 . Motion Planning
This chapter first provides a formulation of the geometric path planning problem in Sect. 7.2 and then introduces sampling-based planning in Sect. 7.3. Sampling-based planners are general techniques applicable to a wide set of problems and have been successful in dealing with hard planning instances. For specific, often simpler, planning instances, alternative approaches exist and are presented...
متن کاملMotion Planni 5 . Motion Planning
This chapter first provides a formulation of the geometric path planning problem in Sect. 5.1 and then introduces sampling-based planning in Sect. 5.2. Sampling-based planners are general techniques applicable to a wide set of problems and have been successful in dealing with hard planning instances. For specific, often simpler, planning instances, alternative approaches exist and are presented...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2005