Trajectory planning in a dynamic workspace: A 'state-time space' approach

Advanced Robotics

Volumn 13, Issue 1, 1998, Pages 75-94

  Fraichard, Thierry ^a  

^a INRIA RHÔNE ALPES   (France)

Author keywords

Dynamic constraints; Motion planning; Moving obstacles; State time space

Indexed keywords

EID: 0032690320     PISSN: 01691864     EISSN: 15685535     Source Type: Journal    
DOI: 10.1163/156855399X00928     Document Type: Article

References (31)

1. J.-C. Latombe, Robot Motion Planning. Kluwer, Dordrecht (1990).
2. M. Erdmann and T. Lozano-Perez, On multiple moving objects, Algorilhmica 2, 477-521 (1987).
3. K. Fujimura and H. Samet, Motion planning in a dynamic domain, in: Proc. IEEE Int. Conf. on Robotics and Automation, Cincinnatti, OH, pp. 324-330 (1990).
4. J. Reif and M. Sharir, Motion planning in the presence of moving obstacles, in: Proc. IEEE Symp. on the Foundations of Computer Science, Portland, OR, pp. 144-154 (1985).
5. K. Fujimura and H. Samet, A hierarchical strategy for path planning among moving obstacles, IEEE Trans. Robotics Automation, 5 (1), 61-69 (1989).
6. C. L. Shih, T. T. Lee and W. A. Gruver, Motion planning with time-varying polyhedral obstacles based on graph search and mathematical programming, in: Proc. IEEE Int. Conf. on Robotics and Automation, Cincinnatti, OH, pp. 331-337 (1990).
7. J. Canny, A. Rege and J. Reif, An exact algorithm for kinodynamic planning in the plane, in: Proc. ACM Symp. on Computational Geometry, Berkeley, CA, pp. 271-280 (1990).
8. C. O'Dunlaing, Motion planning with inertial constraints, Algorithmica, 2, 431-475 (1987).
9. J. E. Bobrow, S. Dubowsky and J. S. Gibson. Time-optimal control of robotic manipulators along specified paths, Int. J. of Robotics Res., 4 (3), 3-17 (1985).
10. Z. Shiller and S. Dubowsky, On the optimal control of robotic manipulators with actuator and end-effector constraints, in: Proc. IEEE Int. Conf. on Robotics and Automation, St Louis, MO, pp. 614-620(1985).
11. Z. Shiller and H.-H. Lu, Robust computation of path constrained time-optimal motion, in: Proc. IEEE Int. Conf. on Robotics and Automation, Cincinnatti, OH, pp. 144- 149 (1990).
12. Z. Shiller and S. Dubowsky, Robot path planning with obstacles, actuator, gripper and payload constraints, Int. J. Robotics Res., 8 (6), 3-18 (1989).
13. Z. Shiller and J. C. Chen, Optimal motion planning of autonomous vehicles in three-dimensional terrains, in: Proc. IEEE Int. Conf. on Robotics and Automation, Cincinnatti, OH, pp. 198-203 (1990).
14. Z. Shiller and S. Dubowsky, Global time optimal motions of robotic manipulators in the presence of obstacles, in: Proc. IEEE Int. Conf. on Robotics and Automation, Philadelphia, PA. pp. 370-375 (1988).
15. G. Sahar and J. H. Höllerbach, Planning of minimum-time trajectories for robot arms, in: Proc. IEEE Int. Conf. on Robotics and Automation, St Louis, MO, pp. 751-758 (1985).
16. J. Canny, B. Donald, J. Reif and P. Xavier, On the complexity of kynodynamic planning, in: Proc. IEEE Symp. on the Foundations of Computer Science, White Plains, NY, pp. 306-316 (1988).
17. B. Donald and P. Xavier, Provably good approximation algorithms for optimal kinodynamic planning for cartesian robots and open-chain manipulators, in: Proc. ACM Symp. on Computational Geometry, Berkeley, CA, pp. 290-300 (1990).
18. P. Jacobs, G. Heinzinger, J. Canny and B. Paden, Planning guaranteed near-time-optimal trajectories for a manipulator in a cluterred workspace, Research Report ESRC 89-20/RAMP 89-15. Engineering Systems Research Center, University of California. Berkeley, CA (1989).
19. P. Fiorini and Z. Shiller, Time optimal trajectory planning in dynamic environments, in: Proc. IEEE Int. Conf. on Robotics and Automation, Minneapolis, MN, Vol. 2, pp. 1553- 1558 (1996).
20. T. Lozano-Perez and M.A. Wesley, An algorithm for planning collision-free paths among polyhedral obstacles, Commun. of the ACM, 22 (10), 560-570 (1979).
21. TH. Fraichard and C. Laugier, Kinodynamic planning in a structured and time-varying 2D workspace, in Proc. IEEE Int. Conf. on Robotics and Automation, Nice, vol. 2, pp. 1500- 1505 (1992).
22. TH. Fraichard, Dynamic trajectory planning with dynamic constraints: a 'state-time space' approach, in: Proc. IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, Yokohama, Vol. 2, pp. 1394-1400 (1993).
23. TH. Fraichard and A. Scheuer, Car-like robots and moving obstacles, in: Proc. IEEE Int. Conf. on Robotics and Automation, San Diego, CA, Vol. 1, pp. 64-69 (1994).
24. K. Kant and S. Zucker, Toward efficient trajectory planning: the path-velocity decomposition. Int. J. Robotics Res., 5 (3), 72-89 (1986).
25. J. E. Bobrow, S. Dubowsky and J. S. Gibson, Time-optimal control of robotic manipulators along specified paths. Int. J. Robotics Res., 4 (3), 3-17 (1985).
26. K. G. Shin and N. D. McKay, Minimum-time control of robotic manipulators with geometric path constraints, IEEE Trans. Automatic Control, 30 531 -541 (1985).
27. K. J. Kyriakopoulos and G. N. Saridis, Collision avoidance of mobile robots in non-stationary environments, in: Proc. IEEE Int. Conf. on Robotics and Automation, Sacramento, CA, pp. 904-909 (1991).
28. J. Barraquand and J.-C. Latombe, On non-holonomic mobile robots and optimal maneuvering, Revue cl'intelligence Artificielle, 3 (2), 77-103 (1989).
29. A. Scheuer and Th. Fraichard, Continuous-curvature path planning for car-like vehicles, in: Proc. IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, Grenoble, Vol. 2, pp. 997-1003 (1997).
30. N. J. Nilsson, Principles of Artificial Intelligence. Morgan Kaufmann, Los Altos, CA (1980).
31. H. Farreny and M. Ghallab, Elements d'lntelligence Artificielle. Fiermes, Paris (1987).