Principles of robot motion theory algorithms and implementations pdf free
Principles of Robot MotionFrom Intelligent Robotics and Autonomous Agents series. By Howie Choset , Kevin M. Lynch , Seth Hutchinson , George A. Kantor , Wolfram Burgard , Lydia E. Kavraki and Sebastian Thrun.
Tangent Bug - Path Planning Algorithm Explanation
Principles of Robot Motion
Motion planning also known as the navigation problem or the piano mover's problem is a term used in robotics is to find a sequence of valid configurations that moves the robot from the source to destination. For example, consider navigating a mobile robot inside a building to a distant waypoint. It should execute this task while avoiding walls and not falling down stairs. A motion planning algorithm would take a description of these tasks as input, and produce the speed and turning commands sent to the robot's wheels. Motion planning algorithms might address robots with a larger number of joints e. Motion planning has several robotics applications, such as autonomy , automation , and robot design in CAD software , as well as applications in other fields, such as animating digital characters , video game , artificial intelligence , architectural design , robotic surgery , and the study of biological molecules. A basic motion planning problem is to produce a continuous motion that connects a start configuration S and a goal configuration G, while avoiding collision with known obstacles.
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