Practical motion planning in robotics: current approaches and future directions

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Kamal K. Gupta, Ángel Pasqual del Pobil
John Wiley & Sons Canada, Limited, 1998 - Technology & Engineering - 356 pages
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Practical Motion Planning in Robotics Current Approaches and Future Directions Edited by Kamal Gupta Simon Fraser University, Burnaby, Canada Angel P. del Pobil Jaume-l University, Castellon, Spain Designed to bridge the gap between research and industry, Practical Motion Planning in Robotics brings theoretical advances to bear on real-world applications. Capitalizing on recent progress, this comprehensive study emphasizes the practical aspects of techniques for collision detection, obstacle avoidance, path planning and manipulation planning. The broad approach spans both model- and sensor-based motion planning, collision detection and geometric complexity, and future directions. Features include:

- Review of state-of-the-art techniques and coverage of the main issues to be considered in the development of motion planners for use in real applications
- Focus on gross motion planning for articulated arms enabling robots to perform non-contact tasks with relatively high tolerances plus brief consideration of mobile robots
- The use of efficient algorithms to tackle incremental changes in the environment
- Illlustration of robot motion planning applications in virtual prototyping and the shipbuilding industry
- Demonstration of efficient path planners combining both local and global planning approaches in conjunction with efficient techniques for collision detection and distance computations
- International contributions from academia and industry

Combining theory and practice, this timely book will appeal to academic researchers and practising engineers in the fields of robotic systems, mechatronics and computer science.

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Contents

Probabilistic Roadmaps for Robot Path Planning
33
Motion Planning with SANDROS and the Configuration Space Toolkit
55
A Practical Approach
79
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