Online path planning with optimal C-space discretization

Henrich, Dominik; Wurll, Christian; Wörn, Heinz

doi:10.1109/iros.1998.724803

Cited by 20 publications

(17 citation statements)

References 9 publications

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“…It is easy to vary the resolution of an existing 2 m tree representation over the space or locally [36]. For a real industrial robot, if the step length along each joint coordinate need to result in almost equal displacement of the robot end-effector in the workspace, then it is more reasonable to divide the C-space into different number of cells along each joint coordinate [37,38]. This can further reduce the total number of cells in the C-space under a pre-defined precision.…”

Section: Hierarchical Representation Of C-spacementioning

confidence: 99%

Development of a configuration space motion planner for robot in dynamic environment

Tang

et al. 2009

Robotics and Computer-Integrated Manufacturing

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Section: Hierarchical Representation Of C-spacementioning

confidence: 99%

Development of a configuration space motion planner for robot in dynamic environment

Tang

et al. 2009

Robotics and Computer-Integrated Manufacturing

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“…We have investigated three different methods to determine the discretization resolution. 9 In the simplest method, the user specifies a uniform discretization for all joints, thus ∆q = c for some constant c. With a reasonable joint resolution of 1°, the uniform discretization results in huge C-spaces. To avoid the huge search space produced by the uniform discretization, usually a heuristic discretization is applied.…”

Section: C-space Discretizationmentioning

confidence: 99%

Point‐to‐point and multi‐goal path planning for industrial robots

Wurll¹,

Henrich²

2001

J. Robotic Syst.

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“…Two requirements for a mobile wireless platform are to navigate to the event location and perform specific tasks as instructed. The first requirement is also known as path planning, which can further be classified as online path planning [7], [8] and off-line path planning [9], [10].…”

Section: Introductionmentioning

confidence: 99%

A 2-Dimensional ACO-Based Path Planner for Off-Line Robot Path Planning

Ganganath

Cheng

2013

2013 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery

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Abstract-Wireless sensor networks are usually deployed in scenarios that are too hostile for human personnel to perform maintenance tasks. Wireless sensor nodes usually exchange information in a multi-hop manner. Connectivity is crucial to the performance of a wireless sensor network. In case a network is partitioned due to node failures, it is possible to re-connect the fragments by setting up bridges using mobile platforms. Given the landscape of a terrain, the mobile platforms should be able reach the target position using a desirable path. In this paper, an off-line robot path planner is proposed to find desirable paths between arbitrary points in a given terrain. The proposed path planner is based on ACO algorithms. Unlike ordinary ACO algorithms, the proposed path planner provides its artificial ants with extra flexibility in making routing decisions. Simulation results show that such enhancement can greatly improve the qualities of the paths obtained. Performances of the proposed path planner can be further optimized by finetuning its parameters.

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Online path planning with optimal C-space discretization

Cited by 20 publications

References 9 publications

Development of a configuration space motion planner for robot in dynamic environment

Development of a configuration space motion planner for robot in dynamic environment

Point‐to‐point and multi‐goal path planning for industrial robots

A 2-Dimensional ACO-Based Path Planner for Off-Line Robot Path Planning

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