Implementation and Experimentation with Motion Planning Algorithms
Abstract
The main charter of this contract is the implementation and experimentation with motion planning algorithms that emphasize the exact combinatorial and purely geometric approach. Motion planning is considered to be one of the major research areas in robotics, and is one of the main stages in the design and implementation of autonomous intelligent systems, which is an important long-range goal in robotics research. Motion planning is one of the basic capabilities that such a system must possess. In purely geometric terms, the simplest version of the problem can be stated as follows. The system is given complete information about the geometry of the environment in which it is to operate (and of its own structure), and has to process it so that, when commanded to move from its current position to some target position, it can determine whether it can do so without colliding with any of the obstacles around it, and if so plan (and execute) such a motion. There are many variants of the problem. A few of those are: motion planning in environments that are only partially known to the system, compliant motion planning that allows contact with obstacles, which might be unavoidable due to measurement errors, optimal motion planning, motion planning with kino-dynamics constraints, and motion planning amidst moving obstacles.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 01, 1990
- Accession Number
- ADA228278
Entities
People
- Micha Sharir
Organizations
- New York University