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Introduction to Path Planning

Introduction to Path Planning. Ji-Wung Choi. System Architecture. Configuration Space. Translating Polygon in 2-D Workspace [ Latombe ]. reference point. Disc Robot in 2-D Workspace [ Latombe ]. Configuration space C. Workspace W. path. y. x.

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Introduction to Path Planning

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  1. Introduction to Path Planning Ji-WungChoi

  2. System Architecture

  3. ConfigurationSpace

  4. Translating Polygon in 2-D Workspace [Latombe] reference point

  5. Disc Robot in 2-D Workspace [Latombe] Configuration space C Workspace W path y x configuration = coordinates (x,y) of robot’s center configuration space C = {(x,y)} free space F = subset of collision-free configurations

  6. Prior Work (1/2) • Path Planning • Classical categorization [1] • Roadmap • Visibility graph [Nilsson(69), Maekawa(10)]. • Voronoi diagram [O’Dunlaing(82),Sahraei(07),Choi(08)]. • Cell decomposition • Exact cell decomposition [Chatila(82), Avnaim(88)]. • Approximate cell decomposition [Lozano-Perez(81), Lingelbach(04)]. • Potential field [Khatib(86), Barraquand(89)]. Visibility Graph Voronoi Diagram Exact Cell Decomp. App. Cell Decomp. [1] J. Latombe, “Robot Motion Planning,” KAP, 1991 Potential Field

  7. Prior Work (2/2) • Path smoothing • Circular arc and line: discontinuity of curvature [Dubins(57)]. • B-spline: manual movement to avoid obstacles [Connors(07), Maekawa(10)]. • Bezier Curve: curvature continuous without considering to minimize curvature [Sahrei(07),Choi(08),Yang(08)]. • DARPA Challenge 05 [Miller(05),Thrun(06)] • Local obstacle avoidance with no global path planning. • Trajectory Generation • Lepetic(03) and Jolly(09) proposed highest allowable velocity profile. • Trajectory Tracking • Amidi(90) proposed pure pursuit (L1 controller). • Murphy(94) linearized pure pursuit to PD controller (straight line). • Park(07) provided upper bound of L1 for stability (general perturbed trajectory). • Moving Obstacle Avoidance • Fiorini (93) proposed the concept of velocity obstacle (VO). • Shiller(01) generalizes VO to proposed nonlinear velocity obstacles(NVO). • Van de Berg(08) proposed reciprocal velocity obstacles (RVO).

  8. References • [Latombe]

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