J. Barraquand, L. Langlois and J.C. Latombe. Robot motion planning with many degrees of freedom and dynamic constraints. In proc Fifth Int. Symposium on Robotics Research, 1989.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....with its dimensionality. Furthermore, these algorithms still have to explore the entire configuration space. In an attempt to reduce the computational complexity of planning algorithms, methods were devised that use heuristics to locally explore the configuration space until a path is found [1, 5]. Those heuristics take advantage of information about the workspace to guide the local search in configuration space. The search relies on iterative or recursive methods to compute the boundary of free space around a particular configuration. For these methods the amount of computation will ....

....between planning and control is a path. To execute the path, it is first converted into a trajectory and then executed by control algorithms. Such a path can be represented as a set of via points, a parametric descriptions of joint positions as a function of time, or as a navigation function [1 1]. The elastic strip framework relies on the existence of a valid candidate path, previously obtained by a planner. Using the notion of elastic tunnel as an implicit representation of sets of paths as the connecting link, the elastic strip framework realizes a much tighter integration of ....

Barraquand, J., B. Langlois and J.-C. Latombe. "Robot motion planning with many degrees of freedom in dynamic environments." Robotics Research, volume 5. Springer Verlag (1989).

....its dimensionality. Furthermore, these algorithms still have to explore the entire con guration space. In an attempt to reduce the computational complexity of planning algorithms, methods methods were devised that use heuristics to locally explore the con guration space until a path is found [1, 5]. Those heuristics take advantage of information about the workspace to guide the local search in con guration space. The search relies on iterative or recursive methods to compute the boundary of free space around a particular con guration. For these methods the amount of computation will ....

Jer^ome Barraquand, Bruno Langlois, and JeanClaude Latombe. Robot motion planning with many degrees of freedom and dynamic constraints. In Robotics Research, volume 5. Springer Verlag, 1989.

....Path planning in partially known environments is clearly an important problem which deserves much attention. 3 Preliminaries We have proposed an efficient and guaranteed path planner in [3,7] It significantly improves on earlier work for planning based on artificial potential field methods [1], which are usually fast but not guaranteed to find a path and global methods based on stratification, like the first roadmap algorithm [2] which is guaranteed to find a path but may spend a long time. Our algorithm has characteristics of both. It incrementally constructs a skeleton of the ....

....the nearby obstacles. From there we can easily compute gradients of the distance function in configuration space, and thereby find the direction of the maximal clearance curves. This work builds on a considerable volume of work in both global motion planning methods [2,8,10,11] and local planners [1,5]. Our method shares a common theme with the work of Barraquand and etc. 1] in that it attempts to use a local potential field planner for speed with some procedure for escaping local maxima. But whereas Barraquand and Latombe s method is a local method made global, we have taken a global method ....

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Barraquand, J., Langlois, B., and Latombe, J-C., Robot Motion Planning with Many Degrees of Freedom and Dynamic Constraints, Proceeding of the 5th International Symposium Robotics Research, Tokyo, Japan, 1989.

....polynomial order memory allocation for solving the problem. a) 2 4 3 4 5 6 7 X (m) Y (m) b) 2 4 5 0 100 200 300 400 X (m) Y (m) Theta (deg) Figure 2.1: C space obstacle for a pentagonal obstacle and square robot: a) Top view, b) Actual C space obstacle. algorithms for holonomic systems [11, 19, 40, 49, 83]. Though the area of nonholonomic motion planning has received significant attention in the recent past, few people have investigated optimality issues in motion planning for nonholonomic systems and of those, few have again implemented practical planners. Latombe [76] provides a very nice ....

J. Barraquand, B. Langlois, and J. C. Latombe. Robot motion planning with many degrees of freedom and dynamic constraints. In Fifth International symposium on Robotics research, Tokyo, Japan, 1989.

....we define here is a subset of a roadmap (in the sense of [18] of this hypersurface. This work builds on a considerable volume of work in both global motion planning methods [18] 54] 73] 78] and local planners, 50] Our method shares a common theme with the work of Barraquand and Latombe [6] in that it attempts to use a local potential field planner for speed with some procedure for escaping local maxima. But whereas Barraquand and Latombe s method is a local method made global, we have taken a global method (the Roadmap Algorithm) and found a local opportunistic way to compute it. ....

....escaping local maxima. But whereas Barraquand and Latombe s method is a local method made global, we have taken a global method (the Roadmap Algorithm) and found a local opportunistic way to compute it. Although our starting point was completely different, there are some other similarities with [6]. Our freeways resemble the valleys intuitively described in [6] But the main difference between our method and the method in [6] is that we have a guaranteed (and reasonably efficient) method of escaping local potential extremal points and that our potential function is computed in the ....

[Article contains additional citation context not shown here]

J. Barraquand, B. Langlois, and J-C. Latombe. Robot motion planning with many degrees of freedom and dynamic constraints. In Proceedings 5th Int. Symp Robotics Research, Tokyo, Japan, 1989.

....environment, which may change as a function of time, to multiple targets along a path without collision. The first steps to deal with this problem were based on global methods which can be considered as a search process for a path in a graph which represents the accessible paths along objects [2]. This approach is practically useful only in a static environment, since the time to construct a graph and to perform the planning task becomes excessively long for a large number of obstacles. As an alternative the idea of potential fields was proposed in which the target acts as an attractor in ....

J. Barraquand and J.C. Latombe. Robot motion planning with many degrees of freedom and dynamic constraints. In Proceedings of the 5th International Symposium on Robotics Research (Tokyo)., pages 74--83, 1989.

....space (e.g. joint angles) Obstacles are represented using high potentials, and goals are denoted by low potentials. Typically, however, the methods found in the literature cannot prevent the local minimum problem , wherein minima form in the potential field in which the robot gets stuck [12, 10, 1, 11, 2, 3]. In [4] Laplace s equation was introduced as a constraint on the potential field to be used. The original motivation for the use of Laplace s equation arose from the prevention of spurious local minima. However, there are several other useful properties that can be exploited for robot control ....

....space, while a 0 represents free space. The c space bitmaps are initialized to 0 (empty) at the start of the conversion. If any of the corresponding Cartesian pixels contain 1 s, then the c space bitmap pixel is set to 1 (occupied) This is similar to an algorithm outlined by Barraquand et al. in [2]. In fact, this scheme is nothing more than a simple (albeit very large) logic circuit, where the wiring is determined by the forward kinematics, and each c space pixel is the output of an OR circuit involving the appropriate Cartesian bitmap pixels. Figure 1 shows the result of this mapping for a ....

J'erome Barraquand, Bruno Langlois, and Jean-Claude Latombe. Robot motion planning with many degrees of freedom and dynamic constraints. In Proceedings of the Fifth International Symposium on Robotics Research, August 1989.

....it possesses the inherent drawbacks of any global planner, i.e. the curse of dimensionality. Thus it is highly unlikely that the algorithm presented here can be extended to high dimensional redundant manipulators without sacrificing completeness if it is to compare favorably with existing planners [3]. In conclusion, this paper has presented a novel approach to generating a decomposition of free space which is based upon examining the connectivity of configuration space obstacles. The methodology developed employs analytic techniques commonly associated with the analysis of redundant ....

J. Barraquand, B. Langlois, and J. Latombe, "Robot motion planning with many degrees of freedom and dynamic constraints,' in Robotics Research: The Fifth International Symposium, pp. 435--444, M. I. T. Press, Cambridge, MA, 1990

....account that the obstacles as well as the target can move and that the obstacles can have any shape, it becomes clear that this problem is not a trivial one. Especially planning a path for a robot in an environment which is unknown and changing, is a difficult problem. In the past, several authors [2, 7, 16, 18, 20, 31] have worked on the path planning problem. Most work so far deals with static environments and used global methods, which can generally be viewed as a search process for a path in a graph. However, global methods will limit the real time capabilities of robots in a cluttered environment, ....

J. Barraquand and J.C. Latombe. Robot motion planning with many degrees of freedom and dynamic constraints. In Proceedings of the 5th International Symposium on Robotics Research (Tokyo)., pages 74--83, 1989.

....skeleton we define here is a subset of a roadmap (in the sense of [2] of this hypersurface. This work builds on a considerable volume of work in both global motion planning methods [2] 3] 4] 5] and local planners, 1] Our method shares a common theme with the work of Barraquand and Latombe [6] in that it attempts to use a local potential field planner for speed with some procedure for escaping local maxima. But whereas Barraquand and Latombe s method is a local method made global, we have taken a global method (the Roadmap Algorithm) and found a local opportunistic way to compute it. ....

....escaping local maxima. But whereas Barraquand and Latombe s method is a local method made global, we have taken a global method (the Roadmap Algorithm) and found a local opportunistic way to compute it. Although our starting point was completely different, there are some other similarities with [6]. Our freeways resemble the valleys intuitively described in [6] But the main difference between our method and the method in [6] is that we have a guaranteed (and reasonably efficient) method of escaping local potential extremal points and that our potential function is computed in the ....

[Article contains additional citation context not shown here]

B. Langlois J. Barraquand and J-C. Latombe. Robot motion planning with many degrees of freedom and dynamic constraints. In Proceedings 5th ISRR, pages 74--83, Tokyo, Japan, 1989.

....the non holonomy problem in motion planning (i.e. the problem of dealing with non integrable kinematic constraints leading to a restriction of the range of reachable configurations of the mobile) is relatively recent. But it has already produced some important theoretical and practical results [1, 5, 8, 9, 10]. Among the proposed approaches, those of [5] 8] and [10] are the most relevant with respect to our problem since they are aimed at generating C 1 trajectories (i.e. smooth curves with a continuous derivative) made up straight segments and circular arcs. But the methods described in [5] and ....

....global path planner with a motion controller allowing the robot to follow a connected set of channels using its proximity sensors and a potential function. As we will see further, our method to solve the previous problem in the case of a non holonomic vehicle is based on the approach described in [1]. The main improvement that we brought to this approach to adapt it to our problem (dynamicity of the environment) consists in combining three kinds of data to define the potential functions: distance to the current subgoal and to the obstacles, instantaneous velocity of the dynamic obstacles and ....

[Article contains additional citation context not shown here]

J. Barraquand, B. Langlois, and J-C. Latombe. Robot motion planning with many degrees of freedom and dynamic constraints. In Proc. of the Int. Symp. on Robotics Research, pages 74--83, Tokyo (Japan), Aug. 1989.

....for these cases take exponential time in the worst case, where the exponent is at least linear in the number of degrees of freedom of the robot system. For problems involving configuration spaces of very high dimension, therefore, only heuristic solutions will be acceptable in practice. See [BLL89] for a recent fast heuristic approach to a wide class of motion planning problems of high dimension. Practical complete algorithms have been developed for some motion planning problems of dimension ranging from 2 to about 6. Most of these algorithms are based on one of two basic approaches: the ....

J'erome Barraquand, Bruno Langlois, and Jean-Claude Latombe. Robot motion planning with many degrees of freedom and dynamic constraints. In 5th International Symposium on Robotics Research, pages 74--83, Tokyo, Japan, August 1989. IEEE.

....The early models for trajectory planning in robot control were based on algorithms which were valid only in some very specific (unnatural) conditions or which required too much time for real time implementation. The first models for trajectory planning dealt with static environments only [1, 4, 13, 15, 17, 25] and used global methods, which can be generally viewed as constructing a graph which is used in a search process for an accessible path in a cluttered environment. These models could only be used for static environments because a moving object or introduction of a new object requires that the ....

J. Barraquand and J.C. Latombe. Robot motion planning with many degrees of freedom and dynamic constraints. In Proceedings of the 5th International Symposium on Robotics Research (Tokyo)., pages 74--83, 1989.

.... 1988 [10] In addition, practical algorithms have been implemented in more or less specific cases (Brooks and Lozano Perez 1983 [9] Gouzenes 1984 [20] Laugier and Germain 1985 [27] Faverjon 1986 [15] Lozano Perez [31] Faverjon and Tournassoud 1987 [17] Barraquand Langlois and Latombe 1989a [4], Zhu and Latombe 1989 [39] One of the most widely studied path planning approach is the cell decomposition approach (Brooks and Lozano Perez 1983 [9] It consists of first decomposing (exactly or approximately) the set of free configurations of the robot into a finite collection of cells and ....

....assuming that there is no more local information that we can extract from U in order to guess the direction of motion which will lead us toward the goal. However, higher order derivatives could provide useful additional information. As a matter of fact, in Barraquand, Langlois and Latombe 1989a [4], the concept of valley (which is based on the first and second derivatives) was used to escape local minima. The resulting planner was not very reliable, but the idea of tracking valleys for escaping local minima could be re used here to generate more informed random motions. 4.3 Path ....

J. Barraquand, B. Langlois and J.C. Latombe, 1989a. Robot Motion Planning with Many Degrees of Freedom and Dynamic Constraints. In Robotics Research 5. Miura, H. and Arimoto, S. (eds.): MIT Press, pp. 435-444.

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J. Barraquand, L. Langlois and J.C. Latombe. Robot motion planning with many degrees of freedom and dynamic constraints. In proc Fifth Int. Symposium on Robotics Research, 1989.

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J. Baxraquand and J.C. Latombe, Robot motion planning with many degrees of freedom and dynamic constraints, Proc. 5th Intern. Syrup. on Robotics Re- search, Tokyo, 1989, pp. 74-83.

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