Figure 1 - uploaded by Craig Eldershaw
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1: This figure shows how the shape of the vehicle can " added " to that of the obstacles to yield the configuration space equivalent of the given environment.
Source publication
Motion planning is a field of growing importance as more and more computer controlled vehicles are being used daily. While some work has been done in this area, much remains, especially in terms of practical efficiency. Complete algorithms exist which will solve virtually any motion planning problem—given sufficient time. Unfortunately the time req...
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We propose a novel method for motion planning and illustrate its implementation on several canonical examples. The core novel idea underlying the method is to define a metric for which a path of minimal length is an admissible path, that is path that respects the various constraints imposed by the environment and the physics of the system on its dy...
Citations
... After the completion of the graph, two straight lines are added to the diagram. One line connects the graph with the start position, and a second line is used to connect the goal position [17]. Then graph search technique is used to calculate the roadmap based on the generated Voronoi diagram where the arcs are equivalent to the edges of a graph. ...
Recent advances in the area of mobile robotics caused growing attention of the armed forces, where the necessity for unmanned vehicles being able to carry out the “dull and dirty” operations, thus avoid endangering the life of the military personnel. UAV offers a great advantage in supplying reconnaissance data to the military personnel on the ground, thus lessening the life risk of the troops. In this paper we analyze various techniques for path planning and obstacle avoidance and cooperation issues for multiple mobile robots. We also present a generic dynamics and control model for steering a UAV along a collision free path from a start to a goal position.
