04-10-2010, 10:09 AM
This article is presented by:
Dr. John (Jizhong) Xiao
Department of Electrical Engineering
City College of New York
Topics
Basics
-Configuration Space
-C-obstacles
Motion Planning Methods
-Roadmap Approaches
*Visibility graphs
*Voronoi diagram
-Cell Decomposition
*Trapezoidal Decomposition
*Quadtree Decomposition
-Potential Fields
-Bug Algorithms
The World consists of...
-Obstacles
+Already occupied spaces of the world
+In other words, robots can’t go there
-Free Space
+Unoccupied space within the world
+Robots “might” be able to go here
For more information about this article,please follow the link:
http://www.googleurl?sa=t&source=web&cd=...anning.ppt&ei=0VipTPieIZDGvQONm9jvDA&usg=AFQjCNGL6Ev6jZMunTXfzeLgU9ZR9OnpuQ
Dr. John (Jizhong) Xiao
Department of Electrical Engineering
City College of New York
Robot Motion Planning
Topics
Basics
-Configuration Space
-C-obstacles
Motion Planning Methods
-Roadmap Approaches
*Visibility graphs
*Voronoi diagram
-Cell Decomposition
*Trapezoidal Decomposition
*Quadtree Decomposition
-Potential Fields
-Bug Algorithms
The World consists of...
-Obstacles
+Already occupied spaces of the world
+In other words, robots can’t go there
-Free Space
+Unoccupied space within the world
+Robots “might” be able to go here
For more information about this article,please follow the link:
http://www.googleurl?sa=t&source=web&cd=...anning.ppt&ei=0VipTPieIZDGvQONm9jvDA&usg=AFQjCNGL6Ev6jZMunTXfzeLgU9ZR9OnpuQ