Chapter 5 Motion Planning by Lydia E . Kavraki and Steven
نویسنده
چکیده
A fundamental robotics task is to plan collision-free motions for complex bodies from a start to a goal position among a collection of static obstacles. Although relative simple, this geometric path planning problem is provably computationally hard [84]. Extensions of this formulation take into account additional constraints that are inherited from mechanical and sensor limitations of real robots such as uncertainties, feedback and differential constraints, which further complicate the development of automated planners. Modern algorithms have been fairly successful in addressing hard instances of the basic geometric problem and a lot of effort is devoted to extend their capabilities to more challenging instances. These algorithms have had widespread success in applications beyond robotics, such as computer animation, virtual prototyping, and computational biology. There are many available surveys [36, 70, 91] and books [23, 57, 60] that cover modern motion planning techniques and applications.
منابع مشابه
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تاریخ انتشار 2007