Robotic navigation using harmonic function-based probabilistic roadmaps

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 5, 2004, Pages 4765-4770

  Kazemi, M ^a   Mehrandezh, M ^a  

^a UNIVERSITY OF REGINA   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION AVOIDANCE; COMPUTER SIMULATION; HARMONIC ANALYSIS; HEURISTIC METHODS; LAPLACE TRANSFORMS; MOTION CONTROL; MOTION PLANNING; NAVIGATION; PROBABILITY;

HARMONIC FUNCTIONS (HF); LOCAL MINIMA FREE PATHS; PROBABILISTIC ROADMAPS (PRM); ROBOTIC NAVIGATION;

ROBOTICS;

EID: 3042681503     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1302471     Document Type: Conference Paper

References (19)

1. C. I. Connolly, J. B. Burns, and R. Weiss, "Path planning using laplace's equation," in Proc. of the IEEE International Conference on Robotics and Automation, Cincinnati, OH, Apr. 1990, pp. 2102-2106.
2. L. E. Kavraki, P. Svesktka, J. C. Latombe, and M. H. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration space," IEEE Trans. Robot. Automat., vol. 12, no. 4, pp. 566-580, June 1996.
3. O. Khatib, "Real-time obstacle avoidance using harmonic potential functions," International Journal of Robotics Research, vol. 5, no. 1, pp. 90-98, 1986.
4. A. A. Masoud and M. M. Bayoumi, "Intercepting a maneuvering target in a multidimensional stationary environment using a wave equation potential field strategy," in Proc. of the IEEE International Symposium on Intelligent Control, Columbus, OH, Aug. 1994, pp. 243-248.
5. K. Sato, "Deadlock-free motion planning using the laplace potential field," Advanced Robotics, vol. 7, no. 5, pp. 449-461, 1993.
6. C. I. Connolly and R. Grupen, "On the applications of harmonic functions to robotics," Journal of Robotic Systems, vol. 10, no. 7, pp. 931-946, 1993.
7. R. L. Burden, J. D. Faires, and A. C. Reynolds, Numerical Analysis. Boston: Prindle, Weber and Schmidt, 1987.
8. J. D. Anderson, Fundamentals of Aerodynamics. New York: McGraw-Hill, 1991.
9. Y Zhang and K. P. Valavanis, "Sensor-based 2-d potential panel method or robot motion planning," Robotica, vol. 14, pp. 81-89, 1996.
10. _, "A 3-d potential panel method for robot motion planning," Robotica, vol. 15, pp. 421-434, 1997.
11. D. Hsu, L. E. Kavraki, J. C. Latombe, R. Motwani, and S.Sorkin, "On finding narrow passages with probabilistic roadmap planners," in Proc. of Int. Workshop on Algorithmic Foundation of Robotics (WAFR), Houston, TX, Mar. 1998, pp. 141-154.
12. N. M. Amato, O. B. Bayazit, L. K. Dale, C. V. Jones, and D. Vallejo, "OBPRM: An obstacle-based prm for 3d workspaces," in Proc. of Int. Workshop on Algorithmic Foundation of Robotics (WAFR), Houston, TX, Mar. 1998, pp. 155-168.
13. O. B. Bayazit, G. Song, and N. M. Amato, "Enhancing randomized motion planners: Exploring with haptic hints," in Proc. of the IEEE International Conference on Robotics and Automation, San Francisco, CA, Apr. 2000, pp. 529-536.
14. C. Holleman and L. Kavraki, "A framework for using the workspace medial axis in prm planners," in Proc. of the IEEE International Conference on Robotics and Automation, San Francisco, CA, Apr. 2000, pp. 1408-1413.
15. D. R. Vallejo, C. Jones, and N. M. Amato, "An adaptive framework for 'single shot' motion planning," in Proc. of the IEEE International Conference on Intelligent Robots and Systems, Oct. 2000, pp. 1722-1727.
16. J. J. Kuffner and S. M. LaValle, "RRT-connect: An efficient approach to single-query path planning," in Proc. of the IEEE International Conference on Robotics and Automation, San Francisco, CA, Apr. 2000, pp. 995-1001.
17. E. Mazer, J. M. Ahuactzin, and P. Bessiere, 'The ariadne's clew algorithm," Journal of Articial Itetligence Research, vol. 9, pp. 295-316, 1998.
18. D. A. Anderson, J. C. Tannehill, and R. H. Pletcher, Computational Fluid Mechanics And Heat Transfer. New York: McGraw-Hill, 1984.
19. L. E. Kavraki, "Computation of configuration-space obstacles using the fast fourier transform," IEEE Trans. Robot. Automat., vol. 11, no. 3, pp. 408-413, 1995.