A practical exact motion planning algorithm for polygonal objects amidst polygonal obstacles

Avnaim, Francis; Boissonnat, Jean Daniel; Faverjon, B.

doi:10.1109/robot.1988.12304

Cited by 97 publications

(39 citation statements)

References 7 publications

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“…If one of the above determinants goes below a certain threshold the system should stop under the risk of trespassing a C-surface. The explicit description of these 8 regions is not easy but, if the moving platform is constrained to move in a plane, the configuration space becomes 2 × SO and the technique used in (Avnaim et al, 1988) for obtaining such descriptions can be applied. Iterating this for different parallel planes, a discretization can be obtained.…”

Section: Singular Configurationsmentioning

confidence: 99%

Uncertainty Model and Singularities of 3-2-1 Wire-Based Tracking Systems

Thomas

Ottaviano

Ros

et al. 2002

Advances in Robot Kinematics

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This paper presents an ellipsoidal set-membership uncertainty model for wire-based tracking systems with wire length uncertainties and joint clearances. Although the proposed model is valid for any number of wires and configurations, including singularities, it has been particularized to a 3-2-1 parallel wire mechanism. The Euler's tetrahedron formula has been used to obtain a numerically stable solution to the direct kinematics of this particular tracking system as well as a compact characterization of its singularities directly expressed in terms of the wire lengths. It is also shown that these singularities, when expressed in the configuration space of the moving element, can be identified as C-surfaces associated with the three basic contacts between polyhedra, which have been widely studied in the context of path planning.

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Section: Singular Configurationsmentioning

confidence: 99%

Uncertainty Model and Singularities of 3-2-1 Wire-Based Tracking Systems

Thomas

Ottaviano

Ros

et al. 2002

Advances in Robot Kinematics

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“…Implementing even the complete algorithms for motion-planning problems with a small number of dofs is far from trivial. Some complete algorithms were implemented over a decade ago [5,6]. Notice however, that a genuinely complete implementation, namely an implementation that can correctly cope with all instances of the problem, requires the usage of special arithmetic in order to deal with arbitrary input 1 and in particular to handle tight or narrow passages for the robot in the workspace.…”

Section: Complete Solutions: Theory and Practicementioning

confidence: 99%

Hybrid Motion Planning: Coordinating Two Discs Moving among Polygonal Obstacles in the Plane

Hirsch

Halperin

2004

Springer Tracts in Advanced Robotics

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The basic motion-planning problem is to plan a collision-free motion for objects moving among obstacles between free initial and goal positions, or to determine that no such motion exists. The basic problem as well as numerous variants of it have been intensively studied over the past two decades yielding a wealth of results and techniques, both theoretical and practical. In this paper, we propose a novel approach to motion planning, hybrid motion planning, in which we integrate complete solutions along with Probabilistic Roadmap (PRM) techniques in order to combine their strengths and offset their weaknesses. We incorporate robust tools, that have not been available before, in order to implement the complete solutions. We exemplify our approach in the case of two discs moving among polygonal obstacles in the plane. The planner we present easily solves problems where a narrow passage in the workspace can be arbitrarily small. Our planner is also capable of providing correct nontrivial "no" answers, namely it can, for some queries, detect the situation where no solution exists. We envision our planner not as a total solution but rather as a new tool that cooperates with existing planners. We demonstrate the advantages and shortcomings of our planner with experimental results.

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“…For fine motion planning, algorithms based on an analytical description of configuration space obtacles are better suited. 2 The search process in discrete C-space is undertaken by making use of heuristics which are intended to prune the search tree in order to save search time. On the current implementation of this specialist, the proposed heuristics are based on a free-space model which is a generalization to the 3D case of a free-space model previously used for 2D path planning 5.6 (see Fig.…”

Section: He Qraspin9 Specialistmentioning

confidence: 99%

Operation specialists for automatic programming and monitoring of robotic assembly cells

Basañez¹,

Torras²,

Ilari³

et al. 1989

Robotics and Computer-Integrated Manufacturing

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A system allowing both the automatic programming of a robotic cell and the monitoring of assembly task execution is described. The system consists of a coordinator, a set of specialists and a task supervisor. The specialists are each associated with a particular snbtask within the assembly and have both off-line and on-line functions. The three specialists which have been incorporated into the system are grasping, displacement and insertion-The coordinator works from a task-level description of the assembly to he performed and generates a cell-centered plan based on an ordered call to the system specialists. Once the assembly operation has been planned, it is the respcmsibility of the supervisor to monitor the correct execution of the assembly task by handling multisensory integration, correcting local errors and calling--when needed--the on-line functions of the several specialists. The overall operation of the system is illustrated by means of an assembly task example. INTRODUCTIONThe application of robots in mechanical assembly tasks is a field of growing interest. Nevertheless, several open problems in the programming and execution phases of these tasks currently limit their practical industrial use. This is clear when considering that even the simplest assembly tasks require the coordinated action of different object-oriented planning systems, each of them being associated with a given elementary assembly operation. 4 Grasping,17 displacement I a and insertion t ~ constitute three examples of such elementary operations arising in most assembly tasks. Each one of these elemental planning systems has been independently studied by many research teams, 9" ~ 0. ~ 5 The results obtained so far seem to indicate the extreme complexity of this kind of apparently simple operation.

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A practical exact motion planning algorithm for polygonal objects amidst polygonal obstacles

Cited by 97 publications

References 7 publications

Uncertainty Model and Singularities of 3-2-1 Wire-Based Tracking Systems

Uncertainty Model and Singularities of 3-2-1 Wire-Based Tracking Systems

Hybrid Motion Planning: Coordinating Two Discs Moving among Polygonal Obstacles in the Plane

Operation specialists for automatic programming and monitoring of robotic assembly cells

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