Navigation algorithm for a nested hierarchical system of robot path planning among polyhedral obstacles

Montgomery, McKale R.; Gaw, D.; Meystel, A.

doi:10.1109/robot.1987.1087801

Cited by 11 publications

(3 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Algorithms based upon visibility lines became a standard solution [393,394], • Planning of optimum tracking was performed as scheduling of motion for the trajectory that was preassigned as a contour [386]. Dealing with disturbances was interpreted as a part of following preassigned trajectory [387] [397], The theoretical background for these efforts was presented [398].…”

Section: Planningmentioning

confidence: 99%

Intelligent systems:

Meystel¹

2002

View full text Add to dashboard Cite

show abstract

Section: Planningmentioning

confidence: 99%

Intelligent systems:

Meystel¹

2002

View full text Add to dashboard Cite

show abstract

“…The navigation problem is usually expressed mathematically as the 'Piano Mover's Problem' (Canny, 1985), also referred to as the 'Routing' (Cesarone andEman, 1988 andRichbourg et al, 1987), 'Find path' (Brooks, 1982 andBrooks andLozano-Ptrez, 1983), 'Path Planning' (Bao and Lin, 1988;Kambhampati and Davis, 1986;Montgomery et al, 1987 andThorpe, 1984), 'Motion Planning' (Schwartz and Sharir, 1988), 'Collision Avoidance' (Hong and Mauceri, 1986) problem and so on. After all, these problems are dealing with finding the safest (some also achieve shortest) path automatically for the moving object, within a known (have the map in advance) or unknown (gathering information step by step from sensor device) territory which might be a two-dimensional plane or three-dimensional space, and the obstacles might be movable or immovable.…”

Section: Approaches To Navigation Problemsmentioning

confidence: 99%

Two-dimensional navigation problems: A knowledge-based system approach

Che

Cesarone

1991

J Intell Manuf

View full text Add to dashboard Cite

Many researchers are studying ways to create machines that can make their own decisions and act on them. Recently, great advances have been made in intelligent mobile robot technology, advances which will provide autonomous traveling ability to autonomous systems, allowing them not only to surmount stairs but also other obstacles. The autonomous systems are expected to gather knowledge about their environment, construct a symbolic world model of the environment, and use this model in planning and carrying out tasks set them in high-level style. An approach to automatic path planning for self-navigation problems is presented. It is structured as a knowledge-based system and is a method of planning safe paths around circular obstacles in a two-dimensional plane for autonomous systems. The expert system path planner reduces the complexity of the problem and the computer run-time, enabling the agent to achieve a quicker response to its own environment. Also, computer run-time increases very slowly with problem complexity. It is done by: (1) representing the environmental information by sets of facts; (2) guiding the moving object by groups of rules and (3) deriving the result with simple algorithm and fewer calculations. This algorithm is implemented in the expert system environment, and some examples drawn from the system are also demonstrated.

show abstract

“…These edges are then filtered for finding the shortest valid path between the source and destination along a series of edges using standard graph algorithms. These methods suffer from the problem of rapid increases in computational time and memory for large and complex maps [9] [10]. Another popular approach is called weighted graph [11], which divides search space into a number of discrete regions, called cells, and restrict movement from a particular space cell to its neighbour.…”

Section: Introductionmentioning

confidence: 99%

Real-time path planning for navigation in unknown environment

Wan

Chen

Earnshaw

Proceedings of Theory and Practice of Computer Graphics, 2003.

View full text Add to dashboard Cite

Real-time path planning is a challenging task that has many applications in the fields of AI, moving robots, virtual reality, agent behaviour simulation, and action games. The various approaches for path planning have different criteria that have to be met, resulting in a number of algorithms for solutions to specific problems. In this paper, we introduce our approach and recent development regarding path planning in game environments. We propose a novel real-time motionoptimisation algorithm called Adaptive Dynamic Points of Visibility (ADPV) for navigation of vehicles or moving agents in dynamical un-configured environments, which computes a collision-free, time-optimal motion track for the moving objects. Our approach is able to deal with the obstacle-space that is unknown or partially unknown to the moving agent. It therefore solves the drawbacks of traditional obstacle-space configuration methods.

show abstract

Navigation algorithm for a nested hierarchical system of robot path planning among polyhedral obstacles

Cited by 11 publications

References 7 publications

Intelligent systems:

Intelligent systems:

Two-dimensional navigation problems: A knowledge-based system approach

Real-time path planning for navigation in unknown environment

Contact Info

Product

Resources

About