Subsea vehicle path planning using nonlinear programming and constructive solid geometry

IEE Proceedings: Control Theory and Applications

Volumn 144, Issue 2, 1997, Pages 143-152

  Wang, Y ^a  

^a HERIOT WATT UNIVERSITY   (United Kingdom)

Author keywords

Boolean operation; Constructive solid geometry; Manipulators; Nonlinear programming; Optimisation; Path planning; Robotics; Undenvater vehicles

Indexed keywords

APPROXIMATION THEORY; BOOLEAN ALGEBRA; COMPUTATIONAL GEOMETRY; COMPUTER SIMULATION; CONVERGENCE OF NUMERICAL METHODS; MOTION PLANNING; NONLINEAR PROGRAMMING; PROBLEM SOLVING; ROBUSTNESS (CONTROL SYSTEMS); SUBMARINES;

CONSTRUCTIVE SOLID GEOMETRY; NONLINEAR OPTIMIZATION SEARCH METHOD; UNMANNED UNDERWATER VEHICLE (UUV);

MANIPULATORS;

EID: 0031101270     PISSN: 13502379     EISSN: None     Source Type: Journal    
DOI: 10.1049/ip-cta:19971029     Document Type: Article

References (32)

1. LATOMBE, J.C.: 'Robot Motion Planning' (Kluwer Academic Publishers, Boston, 1991)
2. QUINN, A.W.: 'Motion planning for manipulators using distributed search'. PhD Thesis, Dept. Computing & Electrical Engineering, Heriot-Watt University, Edinburgh, 1993
3. QUINN, A.W., and LANE, D.M.: 'Local motion planning for underwater manipulators using distributed search'. Preprints of the 4th IFAC Symposium on Robot Control, Capri, Italy, Sept. 1994, pp. 1019-1024
4. LANE, D.M., DUNNIGAN, M.W., QUINN, A.W., and CLEGG, A.C.: 'Motion planning and contact control for a tele-assisted hydraulic underwater robot', J. Autonomous Robots, 1996, 3, pp. 233-251
5. DUNNIGAN, M.W., LANE, D.M., CLEGG, A.C., and EDWARDS, I.: 'Hybrid position/force control of a hydraulic underwater manipulator', 1EE Proc. D, Control Theory Appl, 1996, 143, (2), pp. 145-151
6. LANE, D.M., DUNNIGAN, M.W., DAUCHEZ, P., CLEGG, A.C., CELLIER, L., and : 'A comparison between robust and adaptive hybrid position/force control schemes for hydraulic underwater manipulators', Trans. Inst. Meas. Control, 1996, Special Issue on Marine Control Systems
7. CLEGG, A.C.: 'Self tuning position and force control of a hydraulic manipulator'. PhD Thesis, Dept. Computing and Electrical Engineering, Heriot-Watt University, Edinburgh, September 1996
8. LANE, D.M., and KNIGHTBRIDGE, P.J.K.: 'Task planning and world modelling for supervisory control of robots in unstructured environments'. Proc. IEEE Int. Conf. Robotics Automation, Nagoya, Japan, 21-27 May 1995, pp. 1880-1885
9. BARRAQUAND, J., and LATOMBE, J.C.: 'Robot motion planning: A distributed representation approach', Int. J. Robotics Research, 1991, 10, pp. 628-649
10. BROOKS, R.A., and LOZANO-PEREZ, T.: 'A subdivision algorithm in configuration space for findpath with rotation', IEEE Trans. Syst., Man Cybern., 1985, 15, pp. 224-233
11. HU, T.C., KAHNG, A.B., and ROBINS, G.: 'Optimal robust path planning in general environment', IEEE Trans. Robot. Autom., 1993, 9, pp. 755-774
12. HUANG, H.P., and LEE, P.C.: 'A real-time algorithm for obstacle avoidance of autonomous mobile robots', Robotica, 1992, 10, pp. 217-227
13. HWANG, Y.K., and AHUJA, N.: 'A potential field approach to path planning', IEEE Trans. Robot. Autom., 1992, 8, (1), pp. 2332
14. KHATIB, O.: 'Real-time obstacle avoidance for manipulator and mobile robots', Int. J. Robot. Res., 1986, 5, (1), pp. 90-98
15. LOZANO-PEREZ, T.: 'Spatial planning: A configuration space approach', IEEE Trans. Comput., 1983, 32, pp. 108-120
16. LUMELSKY, V.J.: 'A comparative study on path length performance of maze-searching and robot motion planning', IEEE Trans. Robot. Autom., 1991, 7, (1), pp. 57-66
17. SCHWARTZ, J.T., and SHARIR, M.: 'On the piano movers problem: I. the case of a two-dimensional rigid polygonal body moving arhidst polygonal barrios', Communications on Pure and Applied Mathematics, 1983, XXXVI, pp. 375-398
18. SCHWARTZ, J.T., and SHARIR, M.: 'On the piano movers problem: III. Coordinating the motion of several independent bodies: The special case of circular bodies moving amidst polygonal barriers', Int. J. Robot. Res., 1983, 2, (1), pp. 46-75
19. CHEN, M.W., and ZALZALA, A.M.S.: 'A genetic-based approach to robot motion planning considering path safety and moving obstacles'. Proc. European Chinese Automation Conf., London, Sept. 1995, pp. 143-148
20. LI, Z.X., and BUI, T.D.: 'Robot path planning and navigation using fluid model'. Proc. Second Int. Conf. Automation, Robotics and Computer Vision (ICARCV), Singapore, 1992, pp. RO-10.3.1
21. 'MATLAB, Optimisation toolbox user's guide' (The Math Works Inc., June 1993)
22. COMBA, P.O.: 'A procedure for detecting intersections of threedimensional objects', JACM, 1968, 15, pp. 354-366
23. GILL, P.E., MURRAY, W., and WRIGHT, M.H.: 'Practical optimisation' (Academic Press, London 1981)
24. FLETCHER, R.: 'Practical methods of optimisation' (John Wiley & Sons, New York, 1987)
25. HAN, S.P.: 'A globally convergent method for nonlinear programming', J. Optimis. Theory Appl, 1977, 22, pp. 297-235
26. LUENBERGER, D.G.: 'Linear and nonlinear programming' (Addison-Wesley Publishing Company, London 1984, 2nd edn)
27. POWELL, M.J.D.: 'A fast algorithm for nonlinear constrained optimisation calculation', in WATSON, O.A. (Ed.): 'Numerical analysis' (Lecture Notes in Mathematic, Springer Verlag, 1978, Vol. 630)
28. CHIYOKURA, H.: 'Solid modelling with designbase' (AddisonWesley Publishing Limited, New York, 1988)
29. BLECHSCHMIDT, J.L., and NAGASURU, D.: The use of algebraic functions as a solid modelling alternative: an investigation'. Proc. I6th ASME Design Automation Conf., Chicago, Sept. 1990, vol. 1, pp. 33-41
30. RICCI, A.: 'A constructive geometry for computer graphics', Comput. J., 1973, 16, pp. 157-160
31. BARR, A.H.: 'Superquadrics and angle-preserving transformations', IEEE Comput. Graph. Appl., 1981, 1, (1), pp. 11-23
32. FRANKLIN, W.R., and BARR, A.H.: 'Faster calculation of supcrquadric shapes', IEEE Comput. Graph. Appl, 1981, 1, (3), pp. 41-57