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University of Illinois at Urbana-Champaign
A Framework for Real-Time Path Planning in Changing Environments
Abstract
dc:descriptionAs part of our presentation, we discuss the construction of the roadmap, including how samples of the configuration space may be generated and how to connect the samples to form the roadmap. We then discuss the mapping from the workspace to the roadmap, explaining efficient techniques for its generation and representation. We continue with some robustness measures and how these may be used to enhance the robustness of the roadmap. We then present an extension of our method for mobile robots. Finally, we evaluate an implementation of our approach for serial-link manipulators with up to 20 joints.
Degree
thesis:*- Name thesis:degree_name
- Ph.D.
- Level thesis:degree_level
- Dissertation
- Discipline thesis:degree_discipline
- Electrical Engineering
- Grantor
- University of Illinois at Urbana-Champaign
- Year dc:date
- 2015
Author and committee
dc:creator, dc:contributor.*- Author dc:creator
-
- Leven, Peter J.
- Contributors dc:contributor
-
- Seth Hutchinson
Subjects
dc:subject × 1Rights
- Language dc:language
- eng
Identifiers
dc:identifier.*- Identifier
- (MiAaPQ)AAI3017143
- OAI identifier oai:identifier
- oai:www.ideals.illinois.edu:2142/80711