Abstract
We present a method for robot path planning in the robot’s configuration space, in the presence of fixed obstacles. Our method employs both combinatorial and gradient-based optimization techniques, but most distinguishably, it employs a Multi-sphere Scheme purposefully developed for two and three-dimensional packing problems. This is a singular feature which not only enables us to use a particularly high-grade implementation of a packing-problem solver, but can also be utilized as a model to reduce computational effort with other path-planning or obstacle avoidance methods.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Latombe, J.C.: Robot Motion Planning. Kluwer Academic Publishers, Norwell (1991)
Schwartz, J.T., Sharir, M.: On the piano movers’ problem. II. General techniques for computing topological troperties of real algebraic manifolds. Advances in Applied Mathematics 4, 298–351 (1983)
Reif, J.R.: Complexity of the generalized movers’ problem. In: Schwartz, J.T., Sharir, M., Hopcroft, J. (eds.) Planning, Geometry and Complexity of Robot Motion. Ablex Publishing Corporation (1987)
Amato, N.M., Song, G.: Using motion planning to study protein folding pathways. Journal of Computational Biology 9, 149–168 (2002)
Song, G.: A Motion Planning Approach to Protein Folding. PhD thesis, Texas A&M University (2003)
Canny, J.F.: The Complexity of Robot Motion Planning. The MIT Press (1988)
Reif, J.R., Sharir, M.: Motion planning in the presence of moving obstacles. Journal of the ACM 41, 764–790 (1994)
Ahrikencheikh, C., Seireg, A.A.: Optimized-Motion Planning: Theory and Implementation, 1st edn. John Wiley & Sons, Inc., New York (1994)
Choset, H., Lynch, K.M., Hutchinson, S., Kantor, G.A., Burgardand, W., Kavraki, L.E., Thrun, S.: Principles of Robot Motion. The MIT Press (2005)
Russell, S., Norvig, P.: Artificial Intelligence: A Modern Approach. Prentice Hall (2010)
Schwartz, J.T., Sharir, M., Hopcroft, J.: Planning, Geometry and Complexity of Robot Motion. Ablex Publishing Corporation (1987)
Barraquand, J., Kavraki, L., Latombe, J.C., Motwani, R., Li, T.Y., Raghavan, P.: A random sampling scheme for path planning. The International Journal of Robotics Research 16, 759–774 (1997)
Ratliff, N., Zucker, M., Bagnell, J.A., Srinivasa, S.: CHOMP: gradient techniques for efficient motion planning. In: IEEE International Conference on Robotics and Automation, ICRA 2009, pp. 489–494. IEEE (2009)
Geraerts, R., Overmars, M.H.: A comparative study of probabilistic roadmap planners. In: Boissonnat, J., Burdick, J., Goldberg, K., Hutchinson, S. (eds.) Algorithmic Foundations of Robotics, vol. 7, pp. 43–58. Springer, Heidelberg (2004)
Kavraki, L., Švestka, P., Latombe, J.C., Overmars, M.: Probabilistic roadmaps for path planning in high-dimensional configuration spaces. In: IEEE International Conference on Robotics and Automation, pp. 566–580. IEEE (1996)
Imamichi, T., Nagamochi, H.: A multi-sphere scheme for 2D and 3D packing problems. In: StĂ¼tzle, T., Birattari, M., Hoos, H.H. (eds.) SLS 2007. LNCS, vol. 4638, pp. 207–211. Springer, Heidelberg (2007)
Imamichi, T., Nagamochi, H.: Performance analysis of a collision detection algorithm of spheres based on slab partitioning. IEICE Fundamentals of Electronics, Communications and Computer Sciences E91-A, 2308–2313 (2008)
Imamichi, T.: Nonlinear Programming Based Algorithms to Cutting and Packing Problems. Doctoral Dissertation, Kyoto University (2009)
Lozano-Perez, T.: Spatial planning: A configuration space approach. IEEE Transactions on Computers 100, 108–120 (1983)
Kavraki, L., Kolountzakis, M.N., Latombe, J.C.: Analysis of probabilistic roadmaps for path planning. IEEE Transactions on Robotics and Automation 14, 166–171 (1998)
Nocedal, J., Wright, S.J.: Numerical Optimization, 2nd edn. Springer (2006)
O’Rourke, J.: Computational Geometry in C, 2nd edn. Cambridge University Press (1998)
Hubbard, P.M.: Approximating polyhedra with spheres for time-critical collision detection. ACM Transactions on Graphics 15, 179–219 (1996)
Imamichi, T., Nagamochi, H.: Designing algorithms with multi-sphere scheme. In: Informatics Education and Research for Knowledge-Circulating Society, ICKS 2008, pp. 125–130. IEEE (2008)
Hiramatsu, M.: Approximating objects with spheres in multi-sphere scheme. Master’s thesis, Kyoto Univeristy (2010)
Jacquenot, G., Bennis, F., Maisonneuve, J.J., Wenger, P.: 2D multi-objective placement algorithm for free-form components. ArXiv e-prints (November 2009)
Bénabès, J., Bennis, F., Poirson, E., Ravaut, Y.: Interactive optimization strategies for layout problems. International Journal on Interactive Design and Manufacturing (IJIDeM) 4, 181–190 (2010)
Beppu, K.: An application of multi-sphere scheme to robot path planning. Master’s thesis, Kyoto University (2012)
Hirosue, N.: An application of multi-sphere scheme to robot path planning with 3D-motion. Master’s thesis, Kyoto University (2013)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Shurbevski, A., Hirosue, N., Nagamochi, H. (2014). Optimization Techniques for Robot Path Planning. In: Trajkovik, V., Anastas, M. (eds) ICT Innovations 2013. ICT Innovations 2013. Advances in Intelligent Systems and Computing, vol 231. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-01466-1_10
Download citation
DOI: https://doi.org/10.1007/978-3-319-01466-1_10
Publisher Name: Springer, Heidelberg
Print ISBN: 978-3-319-01465-4
Online ISBN: 978-3-319-01466-1
eBook Packages: EngineeringEngineering (R0)