40 research outputs found
Shortest Dubins Path to a Circle
The Dubins path problem had enormous applications in path planning for
autonomous vehicles. In this paper, we consider a generalization of the Dubins
path planning problem, which is to find a shortest Dubins path that starts from
a given initial position and heading, and ends on a given target circle with
the heading in the tangential direction. This problem has direct applications
in Dubins neighborhood traveling salesman problem, obstacle avoidance Dubins
path planning problem etc. We characterize the length of the four CSC paths as
a function of angular position on the target circle, and derive the conditions
which to find the shortest Dubins path to the target circle
Perception-driven sparse graphs for optimal motion planning
Most existing motion planning algorithms assume that a map (of some quality)
is fully determined prior to generating a motion plan. In many emerging
applications of robotics, e.g., fast-moving agile aerial robots with
constrained embedded computational platforms and visual sensors, dense maps of
the world are not immediately available, and they are computationally expensive
to construct. We propose a new algorithm for generating plan graphs which
couples the perception and motion planning processes for computational
efficiency. In a nutshell, the proposed algorithm iteratively switches between
the planning sub-problem and the mapping sub-problem, each updating based on
the other until a valid trajectory is found. The resulting trajectory retains a
provable property of providing an optimal trajectory with respect to the full
(unmapped) environment, while utilizing only a fraction of the sensing data in
computational experiments.Comment: 2018 IEEE/RSJ International Conference on Intelligent Robots and
System
Multi-Goal Path Planning for Spray Writing with Unmanned Aerial Vehicle
Tato prĂĄce se zabĂœvĂĄ plĂĄnovĂĄnĂm pĆes vĂce cĂlĆŻ pro bezpilotnĂ vzduĆĄnĂ© prostĆedky v Ășloze psanĂ textu. MotivacĂ je pouĆŸitĂ bezpilotnĂ helikoptĂ©ry k preciznĂmu sprejovĂĄnĂ nĂĄpisĆŻ napĆĂklad na stĆechy prĆŻmyslovĂœch budov. ProblĂ©m psanĂ textu bezpilotnĂ helikoptĂ©rou formulujeme jako plĂĄnovĂĄnĂ pĆes vĂce cĂlĆŻ a navrhujeme novĂœ font vhodnĂœ pro tuto aplikaci. HelikoptĂ©ra potĂ© musĂ pĆi psanĂ nĂĄpisu letÄt podĂ©l zadanĂ©ho textu s vyuĆŸitĂm navrhovanĂ©ho fontu. ProblĂ©m hledĂĄnĂ cesty podĂ©l textu lze formulovat jako zobecnÄnĂ problĂ©mu obchodnĂho cestujĂcĂho, kde trajektorie spojujĂcĂ jednotlivĂ© segmenty pĂsmen musĂ respektovat dynamickĂĄ omezenĂ helikoptĂ©ry. Na spojenĂ segmentĆŻ pĂsmen je pouĆŸit model Dubinsova vozĂtka, kterĂœ umoĆŸĆuje prĆŻlet nalezenĂ© trajektorie konstantnĂ rychlostĂ bez brzdĂcĂch manĂ©vrĆŻ. NavrĆŸenĂĄ metoda plĂĄnovĂĄnĂ byla otestovĂĄna v realistickĂ©m simulĂĄtoru a experimenty ukazujĂ jejĂ pouĆŸitelnost pro vĂcerotorovou helikoptĂ©ru v Ășloze psanĂ textu.This thesis describes the multi-goal path planning method for an Unmanned Aerial Vehicle (UAV) feasible for the spray writing task. The motivation is to use an autonomous UAV for precise spray writing on, e.g., roofs of industrial buildings. We formulate the writing with the UAV as a multi-goal path planning problem, and therefore, a new font suitable for the multi-goal path planning has been designed. In order to perform writing, the UAV has to travel along the input text characters. The problem can be formulated as the generalized traveling salesman problem, in which trajectories between input text segments respect the UAV constraints. We employed the Dubins vehicle to connect input text segments that allow us to traverse the final trajectory on constant speed without sharp and braking maneuvers. The implemented method has been tested in a realistic simulation environment. The experiments showed that the proposed method is feasible for the considered multirotor UAV
Optimal Spherical Geodesic Curvature Constrained Paths
Path planning for vehicles is an essential study that must be undertaken to make good use
of resources such as fuel (which is always a limited resource) to ascertain that a vehicle/robot
completes its mission efficiently. The current study deals with the path planning of a Dubinsâ
vehicle on a sphere. A Dubinsâ vehicle is one that moves only forwards, with a constant speed
and with a minimum turning radius constraint; and is named after L.E. Dubins due to his seminal
work [1] on the nature of optimal curves in the plane. The result being that optimal paths must be
of the following types only: CSC, CCC, SC, CS, CC, or C can be optimal. This study aims to
understand the nature of optimality of the Dubinsâ type paths on a sphere.
The main tools employed are Pontryaginâs Minimum Principle and the Sabban frame (same
setup as in Monroy-PĂ©rezâs work [2]). The final result obtained as a result of analytical study and
corroboration with numerical computation is that Dubinsâ type paths are optimal on the sphere for r in the interval (0,(1/sqrt(2))] on account of the CCCC type path being non-optimal in the same interval
MĂ©thode interactive et par l'apprentissage pour la generation de trajectoire en conception du produit
The accessibility is an important factor considered in the validation and verification phase of the product design and usually dominates the time and costs in this phase. Defining the accessibility verification as the motion planning problem, the sampling based motion planners gained success in the past fifteen years. However, the performances of them are usually shackled by the narrow passage problem arising when complex assemblies are composed of large number of parts, which often leads to scenes with high obstacle densities. Unfortunately, humansâ manual manipulations in the narrow passage always show much more difficulties due to the limitations of the interactive devices or the cognitive ability. Meanwhile, the challenges of analyzing the end usersâ response in the design process promote the integration with the direct participation of designers.In order to accelerate the path planning in the narrow passage and find the path complying with userâs preferences, a novel interactive motion planning method is proposed. In this method, the integration with a random retraction process helps reduce the difficulty of manual manipulations in the complex assembly/disassembly tasks and provide local guidance to the sampling based planners. Then a hypothesis is proposed about the correlation between the topological structure of the scenario and the motion path in the narrow passage. The topological structure refers to the medial axis (2D) and curve skeleton (3D) with branches pruned. The correlation runs in an opposite manner to the sampling based method and provide a new perspective to solve the narrow passage problem. The curve matching method is used to explore this correlation and an interactive motion planning framework that can learn from experience is constructed in this thesis. We highlight the performance of our framework on a challenging problem in 2D, in which a non-convex object passes through a cluttered environment filled with randomly shaped and located non-convex obstacles.L'accessibilitĂ©est un facteur important pris en compte dans la validation et la vĂ©rification en phase de conception du produit et augmente gĂ©nĂ©ralement le temps et les coĂ»ts de cette phase. Ce domaine de recherche a eu un regain dâintĂ©rĂȘt ces quinze derniĂšres annĂ©es avec notamment de nouveaux planificateurs de mouvement. Cependant, les performances de ces mĂ©thodes sont gĂ©nĂ©ralement trĂšs faibles lorsque le problĂšme se caractĂ©rise par des passages Ă©troits des assemblages complexes composĂ©es d'un grand nombre de piĂšces. Cela conduit souvent Ă des scĂšnes Ă forte densitĂ©d'obstacles. Malheureusement, les manipulations manuelles des humains dans le passage Ă©troit montrent toujours beaucoup de difficultĂ©s en raison des limitations des dispositifs interactifs ou la capacitĂ©cognitive. Pendant ce temps, les dĂ©fis de l'analyse de la rĂ©ponse finale des utilisateurs dans le processus de conception promeut l'intĂ©gration avec la participation directe des concepteurs.Afin d'accĂ©lĂ©rer la planification dans le passage Ă©troit et trouver le chemin le plus conforme aux prĂ©fĂ©rences de l'utilisateur, une nouvelle mĂ©thode de planification de mouvement interactif est proposĂ©e. Nous avons soulignĂ©la performance de notre algorithme dans certains scĂ©narios difficiles en 2D et 3D environnement.Ensuite, une hypothĂšse est proposĂ©sur la corrĂ©lation entre la structure topologique du scĂ©nario et la trajectoire dans le passage Ă©troit. La mĂ©thode basĂ©e sur les courbures est utilisĂ©e pour explorer cette corrĂ©lation et un cadre de planification de mouvement interactif qui peut apprendre de l'expĂ©rience est construit dans cette thĂšse. Nous soulignons la performance de notre cadre sur un problĂšme difficile en 2D, dans lequel un objet non-convexe passe Ă travers un environnement encombrĂ©rempli d'obstacles non-convexes de forme alĂ©atoire et situĂ©s