Author : Jin Sung Kwon
Release : 2014
Genre :
Kind : eBook
Book Rating : /5 ( reviews)
Book Synopsis Online Motion-plan Modification in Dynamic Environments by : Jin Sung Kwon
Download or read book Online Motion-plan Modification in Dynamic Environments written by Jin Sung Kwon. This book was released on 2014. Available in PDF, EPUB and Kindle. Book excerpt: The demand and the applications of personal and service robots are continuously growing, and robots have begun complementing instead of replacing humans. As a result, newly emerging applications challenge robots to have the capability of continuously updating their motion plans in dynamically changing situations. This dissertation introduces new efficient methodology for an online motion-plan modification. To generate collision-free motions in dynamic environments, a new approach based on the robot Motion Range is introduced, and an online plan modification layer and a new collision checking algorithm are added to compute continuous motions within the Motion Range online. Even if obstacles suddenly appear in run-time and the plan is not modified yet, the robot is allowed to react to the sudden changes in the free space of the Motion Range by the real-time execution strategy. For the real-time execution, low-level motion controllers are implemented, which enable complex robots to move through their Motion Range while complying with multiple task conditions and constraints. This approach was experimentally validated by various complex robots, which can effectively move in unpredictably changing scenarios by deploying the Motion Range concept, the new collision checking algorithm, and the reactive controllers.
