Constraint-based motion planning for virtual prototyping

Garber, Maxim

doi:10.1145/566282.566320

Cited by 12 publications

(5 citation statements)

References 14 publications

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“…Reddy et al generated the C-space using an interference detection technique and searched for the optimal lifting path through two levels of a heuristic algorithm (Reddy et al 2002). Garber and Lin proposed a constraint-based motion planning approach that transforms the motion planning problem into the simulation of a dynamical system in which the motion of each rigid robot is subject to geometric constraints (Garber and Lin 2002). Other searching algorithms developed to search for the optimal/feasible path without collision and overload from the origin position of a lifting object to its destination position include: the ant colony algorithm (Wang et al 2011), the probabilistic roadmap method (Chang et al 2012), the A star path-finding algorithm (Ali et al 2005), the rapidly exploring random tree algorithm (Zhang and Hammad 2012), etc.…”

Section: R a F Tmentioning

confidence: 99%

Real-time planning of a lifting scheme in mobile crane mounted controllers

Ren

Zhang

2016

Can. J. Civ. Eng.

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Ensuring the safety and efficiency of crane operation is challenging due to the complexity of the lifting operation. The real-time lifting path planning system developed in this paper aims to provide an optimized, collision-free lifting path for mobile crane operators. The first contribution of the developed system is to take advantage of crane mounted sensors and components as the hardware to collect object information. No additional device needs to be purchased. Secondly, the data storage, path planning, optimizing, and visualizing functions are designed to minimize the required computer memory so that the system can be installed and applied on the crane mounted controller for real-time operation. No additional calculation capacity is required. This system has been tested in real construction sites and demonstrated its ability to generate lifting paths satisfying operators’ expectation. The system, as an independent software package, can be installed on any mobile cranes mounted with the necessary hardware.

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Section: R a F Tmentioning

confidence: 99%

Real-time planning of a lifting scheme in mobile crane mounted controllers

Ren

Zhang

2016

Can. J. Civ. Eng.

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“…In addition, there are more and more examples of mobile factory floor robots, such as KIVA [3], whose motions are fully known. Virtual prototyping, such as assembly/disassembly and part removal, is another important domain that usually considers the motion of the moving parts to be known or predictable [4].…”

Section: Introductionmentioning

confidence: 99%

Finding critical changes in dynamic configuration spaces

Lü

Lien

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Ahstract-Given a motion planning problem in a dynamic but fully known environment, we propose the first roadmap based method, called critical roadmap, that has the ability to identify and exploit the critical topological changes of the free configuration space. Comparing to the existing methods that either ignore temporal coherence or only repair their roadmaps at fixed times, our method provides not only a more complete representation of the free (configuration-time) space but also provides significant efficiency improvement. Our experimental results show that the critical roadmap method has a higher chance of finding solutions, and it is at least one order of magnitude faster than some well-known planners.

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“…Consequently, computing roadmaps in the Euclidean space has remained a strong area of research. Current motion planning algorithms that compute roadmaps rely on visibility graphs (Jiang et al, 1999; Neus & Maouche, 2005), Voronoi diagrams (Diaz de León & Sossa, 1998; Wilmarth et al, 1999; Foskey et al, 2001; Garber & Lin, 2002; Lee & Choset, 2005; Geraerts & Overmars, 2007), silhouette curves of semialgebraic sets (Canny, 1993), or probabilistic roadmap planners (Kavraki et al, 1996); potential field methods that introduce artificial attractive/repulsive field in the environment can conceptually handle both static and moving obstacles (Rimon & Koditschek, 1992; Xidias et al, 2007). These methods cannot take into consideration the exact geometry of the obstacles, and therefore they cannot be applied to those problems in which the moving object is moving in close proximity with the obstacles.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A family of skeletons for motion planning and geometric reasoning applications

Eftekharian

Ilieş

2011

AIEDAM

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Link to this article: http://journals.cambridge.org/abstract_S0890060411000229How to cite this article: Ata A. Eftekharian and Horea T. Ilieş (2011). A family of skeletons for motion planning and geometric reasoning applications. AbstractThe task of planning a path between two spatial configurations of an artifact moving among obstacles is an important problem in practically all geometrically intensive applications. Despite the ubiquity of the problem, the existing approaches make specific limiting assumptions about the geometry and mobility of the obstacles, or those of the environment in which the motion of the artifact takes place. We present a strategy to construct a family of paths, or roadmaps, for two-and threedimensional solids moving in an evolving environment that can undergo drastic topological changes. Our approach is based on a potent paradigm for constructing geometric skeletons that relies on constructive representations of shapes with R-functions that operate on real-valued half-spaces as logic operations. We describe a family of skeletons that have the same homotopy as that of the environment and contains the medial axis as a special case. Of importance, our skeletons can be designed so that they are "attracted to" or "repulsed by" prescribed spatial sites of the environment. Moreover, the R-function formulation suggests the new concept of a medial zone, which can be thought of as a "thick" skeleton with significant applications for motion planning and other geometric reasoning applications. Our approach can handle problems in which the environment is not fully known a priori, and intrinsically supports local and parallel skeleton computations for domains with rigid or evolving boundaries. Furthermore, our path planning algorithm can be implemented in any commercial geometric kernel, and has attractive computational properties. The capability of the proposed technique are explored through several examples designed to simulate highly dynamic environments.

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Constraint-based motion planning for virtual prototyping

Cited by 12 publications

References 14 publications

Real-time planning of a lifting scheme in mobile crane mounted controllers

Real-time planning of a lifting scheme in mobile crane mounted controllers

Finding critical changes in dynamic configuration spaces

A family of skeletons for motion planning and geometric reasoning applications

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