Robot Motion Planning: Edition en anglais
One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.
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Introduction and Overview
Configuration Space of a Rigid Object
Obstacles in Configuration Space
Exact Cell Decomposition
Approximate Cell Decomposition
Potential Field Methods
Multiple Moving Objects
Dealing with Uncertainty
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achieved adjacent algorithm angle applied approach approximate assume boundary bounded C-obstacle called cell Chapter closed complexity components computed configuration q configuration space connected consider consists constraints constructed contained convex coordinates corresponding critical curves decomposition defined definition denote described determines dimension distance edge EMPTY example execution exists expression faces field Figure finite fixed force free path free space function given goal goal configuration graph grasp Hence illustrates initial intersection interval joints method motion planning movable object moving nodes object obstacles orientation path plane planner planning problem polygonal polynomial position possible potential preimage presented problem produces projection region relation represented requires resp respectively robot rotation segment sensing sequence shown shows simple single straight strategy subset tangent techniques termination condition tion translate uncertainty values vector vertex vertices workspace
Page 641 - Force Feedback Control of Manipulator Fine Motions," ASME Journal of Dynamic Systems, Measurement, and Control, June 1977, pp.