Motion Planning in Dynamic Environments

by Kikuo Fujimura

Overview

Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.

Product Details

ISBN-13:	9784431681670
Publisher:	Springer Japan
Publication date:	12/14/2011
Series:	Computer Science Workbench
Edition description:	Softcover reprint of the original 1st ed. 1991
Pages:	178
Product dimensions:	6.69(w) x 9.61(h) x 0.02(d)

About the Author

Date of Birth:

1952

Table of Contents

1 Introduction.- 1.1 Dynamic environments.- 1.2 Statement of the problem.- 1.3 Scope of the monograph.- 2 Background.- 2.1 Stationary obstacles.- 2.2 Dynamic obstacles.- 2.3 Summary.- 3 Time-Minimal Motion: Basics.- 3.1 Introduction.- 3.2 Accessibility graphs.- 3.3 Planning and motion.- 3.4 Time-minimal motion theorem.- 3.5 Analysis.- 3.6 Discussions.- 3.7 Summary.- 4 Time-Minimal Motion: Applications.- 4.1 Concave obstacles.- 4.2 Convex obstacles.- 4.3 Start point and destination point.- 4.4 Piecewise linear motion of the obstacles.- 4.5 Nonlinear motion of the obstacles.- 4.6 Splitting and merging obstacles.- 4.7 Heuristics in dynamic domains.- 4.8 Unexpected obstacles.- 4.9 Summary.- 5 Time-Minimal Motion: Generalizations.- 5.1 Transient obstacles.- 5.2 Moving obstacles in three dimensions.- 5.3 Summary.- 6 Constrained Motion.- 6.1 Constraints on the motion of the robot.- 6.2 Space representation.- 6.3 Path search.- 6.4 Simulation results.- 6.5 Summary.- 7 Multiple Mobile Agents.- 7.1 Distributed approaches.- 7.2 Mobile agents.- 7.3 Simulation results.- 7.4 Summary.- 8 Conclusions.- 8.1 Summary.- 8.2 Open problems.- References.