Category Archives: Motion Planning
Complete Coverage Path Planning(CCPP)算法总结
本文参考一下论文 On Complete Coverage Path Planning Algorithms for Non-holonomic Mobile Robots: Survey and Challenges.” Journal of Information Science & Engineering, 2017 CCPP can be achieved by using single-robot(单个机器人) or multi-robot(多个机器人) coverage according to the size of the environments. Single-robot coverage is suitable for the coverage task in small environments such as homes, workplaces, and restaurants because…
Paper(1)Perception and Motion Planning for Pick-and-Place of Dynamic Object
Cowley, A., Cohen, B., Marshall, W., Taylor, C. J., & Likhachev, M. (2013, November). Perception and motion planning for pick-and-place of dynamic objects. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 816-823). IEEE. PR2 被广泛应用于tabletop manipulation research。本文的系统设计是基于装有RGB-D sensor和自身姿态sensor的PR2。 The perception system The overall procedure is that table geometry is extracted to perform an initial…
Rapidly-exploring Random Tree(RRT)
[1] Robotic Motion Planning, RI16-735 [2]Lecture notes of Fall 2019: CS 287 Advanced Robotics by Prof. Pieter Abbeel from UC Berkeley, Dept of Electrical Engineering & Computer Sciences; [3]H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations, MIT Press, Boston,…
Dynamic Roadmap
[1]Leven, Peter, and Seth Hutchinson. “A framework for real-time path planning in changing environments.” The International Journal of Robotics Research 21, no. 12 (2002): 999-1030. In sampling-based algorithms, collision checking is usually the most expensive operation and reportedly consumes up to 90–95% of the planning time [1]. The Dynamic Roadmap (DRM) , an extension to the probabilistic…
Planning algorithms basics
[1] RI 16-735 Robot Motion Planning, CMU [2] MIT Course Number 16.410/16.413: Principles of Autonomy and Decision Making, Prof. Brian Charles Williams, Prof. Emilio Frazzoli [3] H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations,MIT Press, Boston, 2005. What is…
Probabilistic Roadmap(PRM)
This article mainly refers to [1] lecture notes of Fall 2019: CS 287 Advanced Robotics by Prof. Pieter Abbeel from UC Berkeley, Dept of Electrical Engineering & Computer Sciences; [2] MIT Course Number 16.410/16.413: Principles of Autonomy and Decision Making, Prof. Brian Charles Williams, Prof. Emilio Frazzoli [3] Lecture notes of COMS W4733, Computational Aspects of Robotics,…
Geometric spatial path planning
Implicit form [latexpage]An implicit planar curve is defined as the zero of a bivariate function $f(x, y) = 0$. An algebraic curve is simply the case where the function $f(x, y)$ is a polynomial in $x$ and $y$ with scaling coefficients $a_{ij}$, that is $f(x, y) = \sum a_{ij}x^iy^j$. Two simple, but important, properties of…