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Robot motion planning deals with the ability of robots to plot their own collision-free motion. Recent research emphasis has been focused on developing practical motion planners for real manipulator arms with direct industrial relevance. This book concentrates on practical aspects of motion planning for real manipulator arms and is intended to narrow the gap between research and practice. Taking a comprehensive look at the motion-planning problem the work describes algorithms for obstacle identification and avoidance, collision avoidance, path planning.
List of contents
PRACTICAL MODEL-BASED APPROACHES TO MOTION PLANNING. Overview and State of the Art (K.Gupta). The Sequential Framework for Practical Motion Planning for Manipulator Arms: Algorithm and Experiments (K. Gupta). Probabilistic Roadmaps for Robot Path Planning (L. Kavraki & J.-C. Latombe). Motion Planning with SANDROS and the Configuration Space Toolkit (Y. Hwang, et al.). Manipulation Planning for Redundant Robots: A Practical Approach (J. Ahuactzin, et al.). Parallel Search Algorithms for Robot Motion Planning (D. Challou, et al.). Toward Incremental Geometric Robot Motion Planning (M. Barbehenn & S. Hutchinson). APPLICATIONS IN INDUSTRY. Industrial Applications of the AMROSE Motion Planner (L. Overgaard, et al.). On Using Motion Planning as a Virtual Prototyping Tool (H. Chang). COLLISION DETECTION AND GEOMETRIC COMPLEXITY. Efficient Algorithms for Two-Phase Collision Detection (B. Mirtich). A Hierarachy of Detail for General Object Representation (B. Martínez-Salvador & A. del Pobil). Efficient Collision Detection for Real-World Motion Planning (M. Pérez-Francisco & A. del Pobil). Dealing with Complexity in Motion Planning (S. Cameron).SENSOR-BASED APPROACHES.Harmonic Functions for Path Planning and Control (K. Souccar, et al.). Real-Time Collision Avoidance in Teleoperated Whole-Sensitive Robot Arm Manipulators (V. Lumelsky & E. Cheung). Sensor-Based Navigation for a Mobile Robot under Uncertain Conditions (H. Noborio & T. Yoshioka). SUMMARY OF PANEL DISCUSSIONS. Successes, Failures, Challenges and Future Directions of Robot Motion Planning (K. Gupta & A. del Pobil).
