Thematische Bibliographien / Local motion planner

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Auswahl der wissenschaftlichen Literatur zum Thema „Local motion planner“

Autor: Grafiati

Veröffentlicht am 29. Juni 2021

Zuletzt aktualisiert am 29. Juli 2025

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Zeitschriftenartikel zum Thema "Local motion planner"

Karakaya, Suat, and Hasan Ocak. "A Novel Local Motion Planner: Navibug." Journal of Intelligent & Robotic Systems 100, no. 3-4 (2020): 987–1003. http://dx.doi.org/10.1007/s10846-020-01239-4.

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Yoshida, Eiichi, Satoshi Murata, Akiya Kamimura, Kohji Tomita, Haruhisa Kurokawa, and Shigeru Kokaji. "Motion Generation for a Modular Robot." Journal of Robotics and Mechatronics 14, no. 2 (2002): 177–85. http://dx.doi.org/10.20965/jrm.2002.p0177.

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We discuss motion generation of a homogeneous modular robot called a Modular Transformer (M-TRAN). Modules are designed to be self-reconfigurable so a collection of modules can transform itself into a robotic structure. The motion generation of the self-reconfigurable robot presents a computationally difficult problem due to the many combinatorial possibilities for the module configuration, even though the module itself is simple, with 2 degrees of freedom. We describe a motion generation for a class of multimodule structures based on a motion planner and a motion scheduler. The motion planner

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Chiurazzi, Marcello, Joan Ortega Alcaide, Alessandro Diodato, Arianna Menciassi, and Gastone Ciuti. "Spherical Wrist Manipulator Local Planner for Redundant Tasks in Collaborative Environments." Sensors 23, no. 2 (2023): 677. http://dx.doi.org/10.3390/s23020677.

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Standard industrial robotic manipulators use well-established high performing technologies. However, such manipulators do not guarantee a safe Human–Robot Interaction (HRI), limiting their usage in industrial and medical applications. This paper proposes a novel local path planner for spherical wrist manipulators to control the execution of tasks where the manipulator number of joints is redundant. Such redundancy is used to optimize robot motion and dexterity. We present an intuitive parametrization of the end-effector (EE) angular motion, which decouples the rotation of the third joint of th

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Hoshino, Satoshi, and Kenichiro Uchida. "Interactive Motion Planning for Mobile Robot Navigation in Dynamic Environments." Journal of Advanced Computational Intelligence and Intelligent Informatics 21, no. 4 (2017): 667–74. http://dx.doi.org/10.20965/jaciii.2017.p0667.

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In dynamic environments, taking static and moving obstacles into consideration in motion planning for mobile robot navigation is a technical issue. In this paper, we use a single mobile robot, for which humans are moving obstacles. Since moving humans sometimes get in the way of the robot, it must avoid collisions with them. Furthermore, if a part of the environment is crowded with humans, it is better for the robot to detour around the congested area. For this navigational challenge, we focus on the interaction between humans and the robot, so this paper proposes a motion planner for successf

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Garrido, S., L. Moreno, D. Blanco, and M. L. Munoz. "Sensor-based global planning for mobile robot navigation." Robotica 25, no. 2 (2007): 189–99. http://dx.doi.org/10.1017/s0263574707003384.

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SUMMARYThe proposed algorithm integrates in a single planner the global motion planning and local obstacle avoidance capabilities. It efficiently guides the robot in a dynamic environment. This eliminates some of the traditional problems of planned architectures (model-plan-act scheme) while obtaining many of the qualities of behavior-based architectures. The computational efficiency of the method allows the planner to operate at high-rate sensor frequencies. This avoids the need for using both a collision-avoidance algorithm and a global motion planner for navigation in a cluttered environmen

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Vass, Gábor, Béla Lantos, and Shahram Payandeh. "Object Reconfiguration with Dextrous Robot Agents." Journal of Advanced Computational Intelligence and Intelligent Informatics 10, no. 2 (2006): 234–40. http://dx.doi.org/10.20965/jaciii.2006.p0234.

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This paper addresses an object manipulation planning algorithm for dextrous robot systems consisting a multifingered hand and a robotic manipulator. A method has been developed for object reconfiguration design. The result is a new algorithm using artificial intelligence based on simulated annealing and A* search. The upper level of the manipulation system, the global planner generates the motion of the object. The lower level, the local planner deals with the motion of the agents relative to the object and the design of the contact forces. The local planner is based on simulated annealing, th

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Lin, Chien-Chou, Kun-Cheng Chen, and Wei-Ju Chuang. "Motion Planning Using a Memetic Evolution Algorithm for Swarm Robots." International Journal of Advanced Robotic Systems 9, no. 1 (2012): 19. http://dx.doi.org/10.5772/45669.

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A hierarchical memetic algorithm (MA) is proposed for the path planning and formation control of swarm robots. The proposed algorithm consists of a global path planner (GPP) and a local motion planner (LMP). The GPP plans a trajectory within the Voronoi diagram (VD) of the free space. An MA with a non-random initial population plans a series of configurations along the path given by the former stage. The MA locally adjusts the robot positions to search for better fitness along the gradient direction of the distance between the swarm robots and the intermediate goals (IGs). Once the optimal con

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Du, Hang, Ming You, and Xinyi Zhao. "Globally Guided Deep V-Network-Based Motion Planning Algorithm for Fixed-Wing Unmanned Aerial Vehicles." Sensors 24, no. 12 (2024): 3984. http://dx.doi.org/10.3390/s24123984.

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Fixed-wing UAVs have shown great potential in both military and civilian applications. However, achieving safe and collision-free flight in complex obstacle environments is still a challenging problem. This paper proposed a hierarchical two-layer fixed-wing UAV motion planning algorithm based on a global planner and a local reinforcement learning (RL) planner in the presence of static obstacles and other UAVs. Considering the kinematic constraints, a global planner is designed to provide reference guidance for ego-UAV with respect to static obstacles. On this basis, a local RL planner is desig

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Tang, Xin, Boyuan Li, and Haiping Du. "A Study on Dynamic Motion Planning for Autonomous Vehicles Based on Nonlinear Vehicle Model." Sensors 23, no. 1 (2022): 443. http://dx.doi.org/10.3390/s23010443.

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Autonomous driving technology, especially motion planning and the trajectory tracking method, is the foundation of an intelligent interconnected vehicle, which needs to be improved urgently. Currently, research on path planning methods has improved, but few of the current studies consider the vehicle’s nonlinear characteristics in the reference model, due to the heavy computational effort. At present, most of the algorithms are designed by a linear vehicle model in order to achieve the real-time performance at the cost of lost accuracy. To achieve a better performance, the dynamics and kinemat

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Tian, Yuan, and Feng Gao. "Efficient motion generation for a six-legged robot walking on irregular terrain via integrated foothold selection and optimization-based whole-body planning." Robotica 36, no. 3 (2017): 333–52. http://dx.doi.org/10.1017/s0263574717000418.

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SUMMARYIn this paper, an efficient motion planning method is proposed for a six-legged robot walking on irregular terrain. The method provides the robot with fast-generated free-gait motions to traverse the terrain with medium irregularities. We first of all introduce our six-legged robot with legs in parallel mechanism. After that, we decompose the motion planning problem into two main steps: first is the foothold selection based on a local footstep cost map, in which both terrain features and the robot mobility are considered; second is a whole-body configuration planner which casts the prob

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Dissertationen zum Thema "Local motion planner"

Mohamed, Zozk. "Analys av metoder för lokal rörelseplanering." Thesis, Örebro universitet, Institutionen för naturvetenskap och teknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-92687.

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Under senare år har vi med hjälp av robotar som använder rörelseplanering kunnat automatisera olika processer och uppgifter. Idag finns det väldigt få strategier för lokal rörelseplanering vid jämförelse med global rörelseplanering. Syftet med det här projektet har varit att analysera tre strategier för lokal rörelseplanering, dessa har varit Dynamic Window Approach (DWA), Elastic Band (Eband) och Timed Elastic Band (TEB).I projektet har styrkor, svagheter, beteenden och förbättringsmöjligheter för respektive strategi studerats närmare genom att utföra olika simulerade tester. I testerna mätes

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Rahman, S. M. Rayhan. "Performance of local planners with respect to sampling strategies in sampling-based motion planning." Thesis, McGill University, 2011. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=96891.

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Automatically planning the motion of rigid bodies moving in 3D by translation and rotation in the presence of obstacles has long been a research challenge for mathematicians, algorithm designers and roboticists. The field made dramatic progress with the introduction of the probabilistic and sampling-based "roadmap" approach. However, motion planning when narrow passages are present has remained a challenge. This thesis presents a framework for experimenting with combinations of sampling strategies and local planners, and for comparing their performance on user defined input problems. Our frame

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Manavi, Kasra Mehron. "Medial Axis Local Planner: Local Planning for Medial Axis Roadmaps." Thesis, 2012. http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11191.

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In motion planning, high clearance paths are favorable due to their increased visibility and reduction of collision risk such as the safety of problems involving: human- robot cooperation. One popular approach to solving motion planning problems is the Probabilistic Roadman Method (PRM), which generates a graph of the free space of an environment referred to as a roadmap. In this work we describe a new approach to making high clearance paths when using PRM The medial axis is useful for this since it represents the set of points with maximal clearance and is well defined in higher dimensions

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Bücher zum Thema "Local motion planner"

Morales, Danioel. Análisis de la selección objetiva desde la crítica de la adjudicación : el caso del programa de alimentación escolar en el Carmen de Chucurí. Universidad Libre Sede Principal, 2021. http://dx.doi.org/10.18041/978-958-5578-77-7.

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El objetivo de esta investigación es valorar, desde la crítica de la adjudicación, por qué la selección objetiva en la contratación pública es inapropiada para garantizar la transparencia y el cumplimiento de los fines estatales. La investigación parte de la plataforma teórica de la crítica a la teoría de la adjudicación de Duncan Kennedy (1997), uno de los principales exponentes del movimiento Critical Legal Studies. Los hallazgos se presentan en tres secciones. Como metodología propuesta se aborda el objeto de estudio desde el paradigma socio crítico, con enfoque cualitativo y siguiendo el m

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Buchteile zum Thema "Local motion planner"

Tsuru, Tomohito. "Descriptions of Dislocation via First Principles Calculations." In The Plaston Concept. Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-16-7715-1_5.

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AbstractDislocation is one of the most representative plastons to determine the mechanical properties of crystalline materials. In this section, several computational approaches for of dislocations and dislocation-related properties are introduced within the framework of first principles calculations. The staking fault energy corresponding to the local interfacial misfit energy is one of the most important characteristics to determine the shape and motion of dislocations. The first principles calculations of the staking fault energy on various slip planes in HCP metals are provided compared wi

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Zolnikov, Konstantin P., Dmitrij S. Kryzhevich, and Aleksandr V. Korchuganov. "Regularities of Structural Rearrangements in Single- and Bicrystals Near the Contact Zone." In Springer Tracts in Mechanical Engineering. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-60124-9_14.

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AbstractThe chapter is devoted to the analysis of the features of local structural rearrangementsin nanostructured materialsunder shear loadingand nanoindentation. The study was carried out using molecular dynamics-based computer simulation. In particular, we investigated the features of symmetric tilt grain boundary migration in bcc and fcc metals under shear loading. The main emphasis was on identifying atomic mechanisms responsible for the migration of symmetric tilt grain boundaries. We revealed that grain boundaries of this type can move with abnormally high velocities up to several hundr

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Lu, Hangyu, Xiaodong Wu, and Liang Yan. "A Way Beyond Drifting: Cornering at the Unexploited Region of Dynamics." In Lecture Notes in Mechanical Engineering. Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-70392-8_98.

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AbstractLinear range considerations in the tire-road contact restrict the potential of dynamic control designs of passenger vehicles, while strong nonlinear dynamics such as drifting are intrinsically dangerous. In this paper, based on the chassis with independent wheel drive/brake torque control, we propose a model-based strategy to exploit the potentials of all four tires in combined slips to elevate the cornering performance in critical maneuvers. The model-inversed results indicate that the maximal achievable steady-state (SS) yawing is larger than the widely-used boundary for control syst

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Zickler Stefan and Veloso Manuela. "Variable Level-Of-Detail Motion Planning in Environments with Poorly Predictable Bodies." In Frontiers in Artificial Intelligence and Applications. IOS Press, 2010. https://doi.org/10.3233/978-1-60750-606-5-189.

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Motion planning in dynamic environments consists of the generation of a collision-free trajectory from an initial to a goal state. When the environment contains uncertainty, preventing a perfect predictive model of its dynamics, a robot ends up only successfully executing a short part of the plan and then requires replanning, using the latest observed state of the environment. Each such replanning step is computationally expensive. Furthermore, we note that such sophisticated planning effort is unnecessary as the resulting plans are not likely to ever be fully executed, due to an unpredictable

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Cobb, James C. "“We Are at the Crossroads”." In The Most Southern Place On Earth. Oxford University PressNew York, NY, 1992. http://dx.doi.org/10.1093/oso/9780195045406.003.0009.

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Abstract As the 1930s began, the stability of Delta society depended on an intricate network of customs and control mechanisms that guaranteed the fundamental socioeconomic supremacy of all whites over all blacks, while assuring as well that the Delta’s white planter elite would remain at the very top of the region’s socioeconomic and political pyramid. The Great Depression plunged the Delta’s economy into crisis, and the Roosevelt New Deal recovery program introduced the first ongoing federal presence in the region since the end of Reconstruction. The New Deal set in motion forces that would

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Sifuentes Ocegueda, Emma Lorena. "Desarrollo local: Categorías, conceptos e iniciativas para su análisis." In Del desarrollo local al territorial: Reflexiones desde México. Ediciones Comunicación Científica; Universidad Autónoma de Nayarit, 2024. https://doi.org/10.52501/cc.150.03.

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Se plantea una aproximación al concepto de desarrollo local destacando dos premisas y tres dimensiones que permiten reflexionar sobre el carácter histórico y multidimensional del mismo, que se expresa en las formas que asumen las condiciones de vida para los actores sociales en un territorio. Las premisas consisten en la globalización y el territorio y la interrelación entre lo local y lo global, como un determinante de los rasgos del desarrollo en un territorio. Sobre las dimensiones del desarrollo territorial se consideran una de carácter espacial, que comprende la organización territorial d

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Deutschmann, Emanuel. "The Spatial Structure of Transnational Human Activity." In Mapping the Transnational World. Princeton University Press, 2022. http://dx.doi.org/10.23943/princeton/9780691226491.003.0005.

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This chapter examines the relation between transnational human activity and geographic distance. It begins by introducing antithetic theories from (a) natural- and complexity-scientific research on animal motion and local-scale human mobility (the “Lévy-flight” debate), and (b) social-scientific reasoning about the diminishing role of space in structuring human activity in the age of globalization (the “geography is dead” hypothesis). Empirically, the chapter then finds that a simple mathematical function—the power law—is excellent at predicting the spatial structure of almost all types of tra

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J. Haug, Edward, and Petar Pavesic. "Mechanical System Kinematics and Dynamics on Differentiable Manifolds." In Topology - Recent Advances and Applications [Working Title]. IntechOpen, 2023. http://dx.doi.org/10.5772/intechopen.1000847.

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Topological and vector space attributes of Euclidean space are employed to create a dierentiable manifold structure for holonomic mechanical system kinematics and dynamics. A local kinematic parameterization is presented that establishes the regular conguration space as a dierentiable manifold. Topological properties of Euclidean space show that this manifold is naturally partitioned into disjoint, maximal, path connected, singularity free domains of kinematic and dynamic functionality. Using the manifold parameterization, d'Alembert variational equations of mechanical system dynamics yield we

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Duan, Chenxu, Ling Xue, and Sachin Kumar. "Design of Mobile Robot Automatic Navigation System Based on ROS." In Advances in Transdisciplinary Engineering. IOS Press, 2024. http://dx.doi.org/10.3233/atde240481.

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Mobile robot is the key equipment of flexible production system, flexible handling system and automatic storage system. As an important bridge connecting logistics and production, mobile robot can effectively improve the production efficiency of manufacturing enterprises and reduce production costs. Under the background of the close combination of information technology and manufacturing industry, higher requirements are put forward for its automation and intelligence. Aiming at the problem of large error accumulation caused by the existing navigation methods using odometer navigation and GPS

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Meel, Priyanka, Ritu Tiwari, and Anupam Shukla. "Optimization of Focused Wave Front Algorithm in Unknown Dynamic Environment for Multi-Robot Navigation." In Rapid Automation. IGI Global, 2019. http://dx.doi.org/10.4018/978-1-5225-8060-7.ch026.

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Robotics is a field which includes multiple disciplines such as environment mapping, localization, path planning, path execution, area exploration etc. Path planning is the elementary requirement for all the above mentioned diversified fields. This paper presents a new method for motion planning of mobile robots which carry forward the best features of Focused Wave Front and other wave front based path planners, at the same time optimizes the algorithm in terms of path length, energy consumption and memory requirements. This research introduces a method of choosing every next step in grid base

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Konferenzberichte zum Thema "Local motion planner"

Amirian, Javad, Mouad Abrini, and Mohamed Chetouani. "Legibot: Generating Legible Motions for Service Robots Using Cost-Based Local Planners." In 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN). IEEE, 2024. http://dx.doi.org/10.1109/ro-man60168.2024.10731283.

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Byeon, Yong Jin, Mingyung Jang, and Yunjeong Kim. "Kinodynamic Modular Approach Local Trajectory Planner for Straightforward Motions of Differential Wheeled Mobile Robots." In 2025 IEEE/SICE International Symposium on System Integration (SII). IEEE, 2025. https://doi.org/10.1109/sii59315.2025.10870898.

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Terence Ng, Wen Zheng, Jianda Chen, Sinno Jialin Pan, and Tianwei Zhang. "Improving the Generalization of Unseen Crowd Behaviors for Reinforcement Learning based Local Motion Planners." In 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610641.

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Misiorowski, Matthew, Farhan Gandhi, and Assad Oberai. "Computational Analysis and Flow Physics of a Ducted Rotor in Edgewise Flight." In Vertical Flight Society 73rd Annual Forum & Technology Display. The Vertical Flight Society, 2017. http://dx.doi.org/10.4050/f-0073-2017-12004.

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This study examines the performance of the ducted rotor in hover and edgewise flight conditions. The flow over a three-dimensional model of a ducted rotor was simulated using the Spalart-Allmaras RANS model implemented in a stabilized finite element method. A sliding mesh was used to conveniently account for the large-scale motion associated with rotor revolutions. The simulation results were analyzed to understand the flow physics and quantify the contributions of the rotor and various sections of the duct interior surfaces on the total aerodynamic forces (thrust, drag and side force) and mom

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Merlet, J.-P. "A local motion planner for closed-loop robots." In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2007. http://dx.doi.org/10.1109/iros.2007.4398984.

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Denny, Jory, and Nancy M. Amato. "The Toggle Local Planner for sampling-based motion planning." In 2012 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2012. http://dx.doi.org/10.1109/icra.2012.6225212.

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Byrne, Steven, Wasif Naeem, and Stuart Ferguson. "An intelligent configuration-sampling based local motion planner for robotic manipulators." In 2013 9th Workshop on Robot Motion and Control (RoMoCo). IEEE, 2013. http://dx.doi.org/10.1109/romoco.2013.6614600.

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Wang, Daifeng, Wenjing Cao, Bo Zhang, and Masakazu Mukai. "Motion Planning for a Robotic Wheelchair with SLERP MPC Local Planner." In 2023 62nd Annual Conference of the Society of Instrument and Control Engineers (SICE). IEEE, 2023. http://dx.doi.org/10.23919/sice59929.2023.10354119.

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Piccinelli, Nicola, and Riccardo Muradore. "Hybrid Motion Planner Integrating Global Voronoi Diagrams and Local Velocity Obstacle Method." In 2018 17th European Control Conference (ECC). IEEE, 2018. http://dx.doi.org/10.23919/ecc.2018.8550127.

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Herr, Gurtajbir, Lasitha Weerakoon, Miao Yu, and Nikhil Chopra. "CARDYNET: Deep Learning Based Navigation for Car-Like Robots in Dynamic Environments." In ASME 2022 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/imece2022-96023.

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Abstract Recently, there has been an increased interest in learning based navigation solutions for robots operating in dynamic environments. Navigation in such environments is particularly challenging due to several reasons. The decisions made by other agents may only be partially observable to the robot, and they may have conflicting objectives. The robot may have imperfect or no knowledge of other agents’ goals and planned routes. Several of the recent studies focus on differential drive robots. However, unlike the differential drive, car-like robots are subjected to additional motion constr

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Berichte der Organisationen zum Thema "Local motion planner"

Hammad, Ali, and Mohamed Moustafa. Seismic Behavior of Special Concentric Braced Frames under Short- and Long-Duration Ground Motions. Pacific Earthquake Engineering Research Center, University of California, Berkeley, CA, 2019. http://dx.doi.org/10.55461/zont9308.

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Over the past decade, several long-duration subduction earthquakes took place in different locations around the world, e.g., Chile in 2010, Japan in 2011, China in 2008, and Indonesia in 2004. Recent research has revealed that long-duration, large-magnitude earthquakes may occur along the Cascadia subduction zone of the Pacific Northwest Coast of the U.S. The duration of an earthquake often affects the response of structures. Current seismic design specifications mostly use response spectra to identify the hazard and do not consider duration effects. Thus, a comprehensive understanding of the

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Wu, Yingjie, Selim Gunay, and Khalid Mosalam. Hybrid Simulations for the Seismic Evaluation of Resilient Highway Bridge Systems. Pacific Earthquake Engineering Research Center, University of California, Berkeley, CA, 2020. http://dx.doi.org/10.55461/ytgv8834.

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Bridges often serve as key links in local and national transportation networks. Bridge closures can result in severe costs, not only in the form of repair or replacement, but also in the form of economic losses related to medium- and long-term interruption of businesses and disruption to surrounding communities. In addition, continuous functionality of bridges is very important after any seismic event for emergency response and recovery purposes. Considering the importance of these structures, the associated structural design philosophy is shifting from collapse prevention to maintaining funct

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