Motion planning for rigid body robots
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Authors
Tan, Liek Foo
Subjects
Motion planning
Path planning
Rigid body robot
Non-holonomic
Kinematic constraints
Cubic spiral
Layered motion planning approach
Spine net
Sensor-oriented method
Yamabico
Path planning
Rigid body robot
Non-holonomic
Kinematic constraints
Cubic spiral
Layered motion planning approach
Spine net
Sensor-oriented method
Yamabico
Advisors
Kanayama, Yutaka
Date of Issue
1992-06
Date
June 1992
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
Given a non-holonomic disc model, D, its motion constraints in terms of maximum curvature (K (max)), a set W of rectilinear polygonal obstacles which assemble an office-like environment, and two configurations of S and G in free(W), this thesis investigates the planning of a smooth free path which satisfies the following condition: D is allowed backing up motions at the end portions of the path, but the middle is to be of class C(2) in its entirety. Although the motion planning problem of D amidst polygonal obstacles has been extensively studied, the paths considered are mostly class C(2) and piecewise C(2) only, and are subject only to the K(max) constraint. Typically, such paths consist of straight line segments and circular ars which have curvature discontinuity at the junction points. In order for D to follow such paths physically, D has to stop abruptly at each junction point to change curvature. The C(2) path investigated in this thesis allows non-stopping motion of D. It is also subject to a further K(mas) constraint to avoid turns that exceed the rate of change of curvature constraint. A class of smooth curves called cubic spirals are adopted for planning C(2) paths. Properties of the cubic spiral are examined in detail. A framework of layered motion planning approach is proposed to divide and conquer the motion planning problem. A novel sensor-oriented method is presented. It plans a spine net which facilitates D carry out deviation correction using sonar sensors while following a motion path.
Type
Thesis
Description
Series/Report No
Department
Department of Computer Science
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
120 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
Copyright is reserved by the copyright owner