Z. Shiller and J. Chen, "Optimal motion planning of autonomous vehicles in three-dimensional terrains," in Proceedings IEEE Int. Conf. Robotics and Automation, 1990.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....placement constraints for a robot with n wheels and spring suspension. The feasible and stable placements of the robot define the free space for the robot in a three dimensional slice of the configuration space. The free space is subdivided using an octree decomposition and searched using A. In [29], a point robot with tip over constraints 4 is used to find a time optimal path through rough terrain. The JPL robot [12] uses a gradient method for path planning. For the RAMI robot [13] a multi layer controller plans paths using a heuristic based on ground filtering. A multi layer strategy is ....

.... of feet or wheels should be in contact with the terrain) static stability constraints (the vertical projection of the robot s center of mass is inside its support polygon) and collision avoidance constraints (parts of the robot do not intersect the terrain or other parts of the robots) See also [13, 29, 30]. 4 Other constructions for 2 dimensional wavelets are possible. 11 p 2 OE 1 p 2 OE 0.00390625 0.0 0.0703125 0.0625 0.031250 0.24609375 0.0 0.56250 0.281250 1.359375 0.500000 0.56250 0.281250 0.24609375 0.0 0.0625 0.031250 0.0703125 0.0 0.00390625 (a) b) Figure 3: ....

Z. Shiller, J. C. Chen. Optimal Motion Planning of Autonomous Vehicles in Three Dimensional Terrain Proceedings of the IEEE International Conference on Robotics and Automation, pp. 198--203, 1990.

.... robots subject to bounds on their velocity and acceleration [ Canny et al. 1990; O D unlaing, 1987 ] Besides optimal control theory provides some exact results in the case of robots with full dynamics and moving along a given path [ Bobrow et al. 1985b; Shiller and Dubowsky, 1985; Shiller and Lu, 1990 ] Using these results, some authors have described methods that computes a local time optimal trajectory [ Shiller and Dubowsky, 1989; Shiller and Chen, 1990 ] The key idea of these works is to formulate the problem as a two stage optimization process: optimal motion time along a given path ....

.... some exact results in the case of robots with full dynamics and moving along a given path [ Bobrow et al. 1985b; Shiller and Dubowsky, 1985; Shiller and Lu, 1990 ] Using these results, some authors have described methods that computes a local time optimal trajectory [ Shiller and Dubowsky, 1989; Shiller and Chen, 1990 ] The key idea of these works is to formulate the problem as a two stage optimization process: optimal motion time along a given path is used as a cost function for a local path optimization (hence local time optimality) However the difficulty of the general problem and the need for practical ....

[Article contains additional citation context not shown here]

Z. Shiller and J.C. Chen. -- Optimal motion planning of autonomous vehicles in three-dimensional terrains. -- In Proc. of the IEEE Int. Conf. on Robotics and Automation, pages 198--203, Cincinnatti, OH (USA), May 1990.

....trajectories that also guarantee vehicle stability and take into account its kinematic constraints. Although a large amount of work has been devoted to motion planning [10] only a few contributions have been recently reported for the case of a vehicle moving on a terrain. First works [13][11] addressed the problem of computing time optimal trajectories for a point robot subject to simple dynamic constraints. The planners proposed in [14] 6] 9] consider a geometric model of the robot by using discrete search techniques operating in the configuration space. Other interesting ....

Z. Shiller and J.C. Chen. Optimal motion planning of autonomous vehicles in three dimensional terrains. In IEEE International Conference on Robotics and Automation, Cincinnati (USA), 1990.

....behavior of wheel soil contacts and that of the locomotion system considered as an articulated structure. The navigation problem on uneven terrain has been addressed in a limited number of works. Some of them concern path planning by considering geometric or simple dynamic constraints [7] [6]. In other respects, some mechanical concepts for off road robots are proposed in [4] 3] but these studies remain in qualitative form. In this paper, we choose a classical mechanical approach for vehicle behavior modeling as in [2] contrary to [13] and [14] who use a physical modeling ....

Z. Shiller and J.C. Chen. Optimal Motion Planning of Autonomous Vehicles in Three Dimensional Terrains, Proc. of IEEE Int. Conferences on Robotics an Automation, Cincinnata, 1990.

....spectrum are methods that assume completely accurate prior knowledge of large scale space. Using this knowledge and an accurate model of robot dynamics, an approximately time optimal feedforward control between two locations can be found using a variety of techniques [Gilbert and Johnson, 1985; Shiller and Chen, 1990; Zaharakis and Guez, 1990; Donald and Xavier, 1989] These methods are not designed to respond to sensor information during navigation, and hence do not address map errors, control errors, and environment changes. At the other end of this spectrum, methods such as those described by Feng and ....

....acceleration constraints and the availability of a direct solution for the onedimensional case. Computation time was on the order of tens of seconds on contemporary microcomputers. Shiller and Chen described a method for planning an approximate timeoptimal path in a three dimensional terrain [Shiller and Chen, 1990]. Paths which would allow the robot to slip or tip over are avoided. The method, based on Bobrow s method for finding a minimum time trajectory along a specified geometric path [Bobrow et al. 1985] employs an unconstrained optimization of the parameters describing the geometric path of the ....

Shiller, Zvi and Chen, J. C. 1990. Optimal motion planning of autonomous vehicles in three dimensional terrains. In 1990 IEEE International Conference on Robotics and Automation. 198--203.

.... all the implemented motion planners apply some restrictive hypotheses in order to reduce the algorithmic complexity and to make the problem tractable (see [11] More recently, some interesting contributions addressing motion planning for a mobile robot moving on a rough terrain have been reported [14][6] 12] 15] A first approach introduces elementary dynamic constraints in the time optimal motion planning, and uses a continuous three dimensional B patch model of the terrain and a two dimensional B spline curve to describe a path [14] It is based upon a two step method to search an optimal ....

.... a mobile robot moving on a rough terrain have been reported [14] 6] 12] 15] A first approach introduces elementary dynamic constraints in the time optimal motion planning, and uses a continuous three dimensional B patch model of the terrain and a two dimensional B spline curve to describe a path [14]. It is based upon a two step method to search an optimal trajectory on this terrain (de1 termination of an optimal path and optimisation of the trajectory on each involved patch) The robot dynamics is reduced to some basic constraints which are associated to a mobile point and the considered ....

Z. Shiller, J.C. Chen, "Optimal motion planning of autonomous vehicles in three dimensional terrains", IEEE Int. Conf. on Robotics and Automation, May 1990.

....corresponding to partial successive placements of the vehicle over the terrain. Each placement is specified by a configuration vector q p = x; y; giving the coordinates of the reference point of the robot in the ground frame and the head angle. Such planners have recently been studied. [7] proposes a method for terrain modelized using splines; he takes into account kinematic, stability and no sliding constraints. 8] proposes a geometrical path planning algorithm for a particular architecture of robot (a vehicle with two rear driving wheels and one free wheel at the front) He ....

Z. Shiller and J.C. Chen. Optimal motion planning of autonomous vehicles in three dimensional terrains. In IEEE Int. Conf. on Robotics and Automation, 1990. Cincinnati, USA.

....of a four tiltable track robot. We recently proposed [3] a free space structuring algorithm based on the characterization of configuration space regions for which the locomotion architecture guarantees terrain irregularities absorption and stability of the vehicle. Finally, Shiller addressed in [11] the problem of finding a time optimal trajectory for a point robot moving on a terrain. The dynamics of the vehicle is used to take into account tip over constraints. In this paper, we present an extension of the planning approach proposed in [12] This extension allows the planner to deal with ....

Z. Shiller and J.C. Chen. Optimal motion planning of autonomous vehicles in three dimensional terrains. In IEEE International Conference on Robotics and Automation, Cincinnati (USA), 1990.

.... for Cartesian robots subject to bounds on their velocity and acceleration [ Canny et al. 1990; O D unlaing, 1987 ] Optimal control theory provides some exact results in the case of robots with full dynamics and moving along a given path [ Bobrow et al. 1985b; Shiller and Dubowsky, 1985; Shiller and Lu, 1990 ] Using these results, some authors have described methods that compute a local time optimal trajectory [ Shiller and Dubowsky, 1989; Shiller and Chen, 1990 ] The key idea of these works is to formulate the problem as a two stage optimization process: optimal motion time along a given path is ....

.... some exact results in the case of robots with full dynamics and moving along a given path [ Bobrow et al. 1985b; Shiller and Dubowsky, 1985; Shiller and Lu, 1990 ] Using these results, some authors have described methods that compute a local time optimal trajectory [ Shiller and Dubowsky, 1989; Shiller and Chen, 1990 ] The key idea of these works is to formulate the problem as a two stage optimization process: optimal motion time along a given path is used as a cost function for a local path optimization (hence local time optimality) However, the difficulty of the general problem and the need for practical ....

[Article contains additional citation context not shown here]

Z. Shiller and J.C. Chen. -- Optimal motion planning of autonomous vehicles in three-dimensional terrains. -- In Proc. of the IEEE Int. Conf. on Robotics and Automation, pages 198--203, Cincinnatti, OH (USA), May 1990.

.... to bounds on their velocity and acceleration [5, 18] Besides optimal control theory provides some exact results in the case of robots with full dynamics and moving along a given path [2, 28] Using these results, some authors have described methods that computes a local time optimal trajectory [27, 25]. The key idea of these works is to formulate the problem as a two stage optimization process: optimal motion time along a given path is used as a cost function for a local path optimization (hence local time optimality) However the difficulty of the general problem and the need for practical ....

Z. Shiller and J.C. Chen. Optimal motion planning of autonomous vehicles in three-dimensional terrains. In Proc. of the IEEE Int. Conf. on Robotics and Automation, Cincinnatti, OH (USA), May 1990.

.... for Cartesian robots subject to bounds on their velocity and acceleration [Canny et al. 1990; O D unlaing, 1987] Besides optimal control theory provides some exact results in the case of robots with full dynamics and moving along a given path [Bobrow et al. 1985; Shiller and Dubowsky, 1985; Shiller and Lu, 1990]. Using these results, some authors have described methods which computes a local time optimal trajectory [Shiller and Dubowsky, 1989; Shiller and Chen, 1990] The key idea of these works is to formulate the problem as a twostage optimization process: optimal motion time along a given path is used ....

.... some exact results in the case of robots with full dynamics and moving along a given path [Bobrow et al. 1985; Shiller and Dubowsky, 1985; Shiller and Lu, 1990] Using these results, some authors have described methods which computes a local time optimal trajectory [Shiller and Dubowsky, 1989; Shiller and Chen, 1990] The key idea of these works is to formulate the problem as a twostage optimization process: optimal motion time along a given path is used as a cost function for a local path optimization (hence local time optimality) However the difficulty of the general problem and the need for practical ....

[Article contains additional citation context not shown here]

Z. Shiller and J.C. Chen. -- Optimal motion planning of autonomous vehicles in three-dimensional terrains. -- In Proc. of the IEEE Int. Conf. on Robotics and Automation, pages 198--203, Cincinnatti, OH (USA), May 1990.

.... robots subject to bounds on their velocity and acceleration [ Canny et al. 1990; O D unlaing, 1987 ] Besides optimal control theory provides some exact results in the case of robots with full dynamics and moving along a given path [ Bobrow et al. 1985; Shiller and Dubowsky, 1985; Shiller and Lu, 1990 ] Using these results, some authors have described methods that computes a local timeoptimal trajectory [ Shiller and Dubowsky, 1989; Shiller and Chen, 1990 ] The key idea of these works is to formulate the problem as a two stage optimization process: optimal motion time along a given path is ....

.... some exact results in the case of robots with full dynamics and moving along a given path [ Bobrow et al. 1985; Shiller and Dubowsky, 1985; Shiller and Lu, 1990 ] Using these results, some authors have described methods that computes a local timeoptimal trajectory [ Shiller and Dubowsky, 1989; Shiller and Chen, 1990 ] The key idea of these works is to formulate the problem as a two stage optimization process: optimal motion time along a given path is used as a cost function for a local path optimization (hence local time optimality) However the difficulty of the general problem and the need for practical ....

[Article contains additional citation context not shown here]

Z. Shiller and J.C. Chen. -- Optimal motion planning of autonomous vehicles in three-dimensional terrains. -- In Proc. of the IEEE Int. Conf. on Robotics and Automation, pages 198--203, Cincinnatti, OH (USA), May 1990.

.... Generally, all the implemented motion planners apply some restrictive hypotheses to reduce the algorithmic complexity and to make the problem tractable (see [9] More recently, some interesting contributions addressing motion planning for a vehicle moving on a rough terrain have been reported [23][24] 10] 18] 25] In these approaches, the robot dynamics is generally reduced to some basic constraints which are associated to a mobile point, and the robot terrain interactions considered are mainly restricted to the evaluation of some simple stability criteria based on the Coulomb law. A first ....

....the Coulomb law. A first approach in this framework is to reason on a continuous three dimensional B patch model of the terrain, using a two steps method for searching an optimal trajectory on this terrain (determination of an optimal path and optimization of the trajectory on each involved patch) [23][24] In this approach, only some basic dynamic constraints associated to the center of mass of the vehicle are modeled, and only robot terrain interactions which can be represented using elementary stability criteria are explicitly considered (such criteria characterize simple no sliding and no ....

Z. Shiller, J.C. Chen, "Optimal Motion Planning of Autonomous Vehicles in Three Dimensional Terrains", IEEE Int. Conf. on Robotics and Automation, May 1990.

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Z. Shiller and J. Chen, "Optimal motion planning of autonomous vehicles in three-dimensional terrains," in Proceedings IEEE Int. Conf. Robotics and Automation, 1990.

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Shiller, Z. and Chen, J. C. 1990. Optimal motion planning of autonomous vehicles in three-dimensional terrains. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Cincinnati, OH, May, pp. 198--203.

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Zvi Shiller and J. C. Chen. Optimal motion planning of autonomous vehicles in three dimensional terrains. In 1990 IEEE International Conference on Robotics and Automation, pages 198--203, 1990.

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Z. Shiller and J.C. Chen. Optimal motion planning of autonomous vehicles in three dimensional terrains. In IEEE International Conference on Robotics and Automation, Cincinnati (USA), 1990.

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Zvi Shiller and J. C. Chen. Optimal motion planning of autonomous vehicles in three dimensional terrains. In Proceedings IEEE International Conference on Robotics and Automation, pages 198--203, 1990.

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