Improving robot path planning efficiency with probabilistic virtual environment models

2004 IEEE Symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems, VECIMS

Volumn , Issue , 2004, Pages 13-18

  Payeur, P ^a  

^a UNIVERSITY OF OTTAWA   (Canada)

Author keywords

Collision avoidance; Path planning; Potential fields; Probabilistic occupancy modeling

Indexed keywords

COLLISION AVOIDANCE; COMPUTATIONAL COMPLEXITY; MATHEMATICAL MODELS; PROBABILITY; ROBOTS; SENSORS; THREE DIMENSIONAL; VIRTUAL REALITY; VISUALIZATION;

DISCRETE POTENTIAL FIELDS; NON-REPETITIVE APPROACHES; POTENTIAL FIELDS; PROBABILISTIC OCCUPANCY MODELING;

MOTION PLANNING;

EID: 15844418640     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. A. Elfes, "Using Occupancy Grids for Mobile Robot Perception and Navigation", IEEE Computer, vol. 22, no. 6, pp. 46-57, June 1989.
2. C. I. Connolly, "Cumulative Generation of Octree Models from Range Data", in Proceedings of the IEEE International Conference on Robotics, pp. 25-32, March 1984.
3. Y. Katimura, T. Tanaka, F. Kishino, M. Yachida, "3-D Path Planning in a Dynamic Environment Using Octree and an Artificial Potential Field", in Proceedings of the IEEE International Conference on Intelligent Robots and Systems, pp. 474-481, April 1995.
4. T. Laliberté, C. M. Gosselin, "Efficient Algorithms for the Trajectory Planning of Redundant Manipulators with Obstacle Avoidance", in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 3, pp. 2044-2049, May 1994.
5. J. Barraquand, J.-C. Latombe, "A Monte-Carlo Algorithm for Path Planning with Many Degrees of Freedom", in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 3, pp. 1712-1717, May 1990.
6. J. Barraquand, B. Langlois, J.-C. Latombe, "Numerical Potential Field Techniques for Robot Path Planning", in IEEE Transactions on Systems, Man and Cybernetics, vol. 22, no. 2, pp. 224-241, March/April 1992.
7. H. H. Chen, T. S. Huang, "A Survey of Construction and Manipulation of Octrees", Computer Vision, Graphics & Image Processing, vol. 43, no. 3, pp. 409-431, Sept. 1988.
8. H. Samet, The Design and Analysis of Spatial Data Structures, Addison-Wesley, Reading, MA, 1990.
9. A. Elfes, Occupancy Grids: A Probabilistic Framework for Robot Perception and Navigation, Ph.D. thesis, Carnegie Mellon University, 1989.
10. P. Payeur, D. Laurendeau, C. M. Gosselin, "Range Data Merging for Probabilistic Octree Modeling of 3-D Workspaces", in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 4, pp. 3071-3078, May 1998.
11. D. Jung, K. K. Gupta, "Octree-Based Hierarchical Distance Maps for Collision Detection", in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 454-459, April 1996.
12. J.-C. Latombe, Robot Motion Planning, Kluwer Academic Publishers, Boston, 1991.
13. O. Takahashi, R.J. Schilling, "Motion Planning in a Plane Using Generalized Voronoi Diagrams", in IEEE Transactions on Robotics and Automation, vol. 5, no 2, pp. 143-150, 1989.
14. P. Payeur, "An Optimized Computational Technique for Free Space Localization in 3-D Virtual Representations of Complex Environments", in Proceedings of the IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems, Boston, MA, July 2004.
15. M. Soucy, P. Payeur, "Robot Path Planning with Multiresolution Probabilistic Representations: A Comparative Study", in Proceedings of the Canadian Conference on Electrical and Computer Engineering, Niagara Falls, ON, pp. 1127-1130, May 2004.