A Framework for Real-Time Path Planning in Changing Environments
Leven, Peter J.
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Permalink
https://hdl.handle.net/2142/80711
Description
Title
A Framework for Real-Time Path Planning in Changing Environments
Author(s)
Leven, Peter J.
Issue Date
2001
Doctoral Committee Chair(s)
Seth Hutchinson
Department of Study
Electrical Engineering
Discipline
Electrical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Electronics and Electrical
Language
eng
Abstract
As part of our presentation, we discuss the construction of the roadmap, including how samples of the configuration space may be generated and how to connect the samples to form the roadmap. We then discuss the mapping from the workspace to the roadmap, explaining efficient techniques for its generation and representation. We continue with some robustness measures and how these may be used to enhance the robustness of the roadmap. We then present an extension of our method for mobile robots. Finally, we evaluate an implementation of our approach for serial-link manipulators with up to 20 joints.
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