Robot motion planning in a cluttered environment requires knowledge about robot shape and size. These robot characteristics in uence system performance eventhough most motion planning methods do not consider them. This paper presents an ongoing work that studies general motion planning techniques in combination with knowledge related to robot shape and size. The system acquires knowledge and le...

A new robot path planning methodology called obstacle accommodation has been introduced for robots in cluttered environments. This methodology does not attempt to avoid physical contact between a robot and obstacles. Instead, it controls the contact to prevent damage to the robot. Obstacle accommodation represents a new robotic paradigm in which obstacles can contact robots at unspecified posit...

Robot motion planning is a fairly intuitive and engaging topic, yet it is difficult to teach. The material is taught in undergraduate and graduate robotics classes in computer science, electrical engineering, mechanical engineering and aeronautical engineering, but at an abstract level. Deep learning could be achieved by having students implement and test different motion planning strategies. H...

In order to better study the trajectory of robot motion, a motion trajectory planning and simulation based on 6-DOF manipulator arm robot is designed. Three and five polynomial methods are adopted to plan motion trajectories. The advantages and disadvantages of the three and five polynomial trajectory planning are summarized. The trajectory planning in the right angle space can make the robot a...

Human-Robot interaction brings new challenges to motion planning. The human, who is generally considered as an obstacle for the robot, needs to be considered as a separate entity that has a position, a posture, a field of view and an activity. These properties can be represented as new constraints to the motion generation mechanisms. In this paper we present three human related constraints to t...

A planning technique for six-legged walking robot is presented in this thesis along with a terrain modelling approach that allows to exploit possible supporting footholds of the surface. The proposed approach for merging measurements provided by a depth camera sensor allows to reconstruct the robot surrounding. Based on the measurements of the environment, a grid based elevation map is construc...

Motion planning for constrained systems is a version of the motion planning problem in which the motion of a robot is limited by constraints. For example, one can require that a humanoid robot such as a PR2 [45] remain upright by constraining its torso to be above its base or require that an object such as a bucket of water remain upright by constraining the vertices of the object to be paralle...

A potential-based genetic algorithm is proposed for the motion planning of robot swarms. The proposed algorithm consists of a global path planner and a motion planner. The global path planning algorithm plans a trajectory, which the robot swarm should follow, within a Voronoi diagram of the free space. The motion planning algorithm is a genetic algorithm based on artificial potential models. Th...

In this paper we show that parallel search techniques derived from their sequential counterparts can enable the solution of instances of the robot motion planning problem that are computationally infeasible on sequential machines. We present a simple parallel version of a robot motion planning algorithm based on "quasi best first" search with randomized escape from local minima and random backt...