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This paper addresses the problem of real-time, non-holonomic motion planning in environments with moving obstacles of unforeseen, arbitrary motion. An approach is introduced to smoothly switch trajectories by generating feasible non-holonomic trajectory segments on the fly as the robot moves in such an environment, extending the real-time adaptive motion planning (RAMP) approach that is used for holonomic...
It is a common practice to take advantage of redundancy in a manipulator to avoid obstacles while the end-effector is conducting a task-constrained motion, such as compliant motion for assembly. However, existing approaches rely on increasing the distance between the obstacles and the robot arm to avoid obstacles, which may result in a conflict between task motion and obstacle avoidance, i.e., when...
Continuum manipulators, featuring “continuous backbone structures”, are promising for deft manipulation of a wide range of objects under uncertain conditions in less-structured and cluttered environments. A multi-section trunk/tentacle robot is such a continuum manipulator. With a continuum robot, manipulation means a continuous whole-arm motion, often without a clear distinction between transport...
This paper addresses continuous collision-checking of a high-DOF robot trajectory in a completely unknown and unpredictable environment (i.e., obstacles are unknown and their motions are also unknown). In, the authors introduced how to discover, if a robot at configuration q at a future time t is guaranteed collision-free or not using the novel concept of the dynamic envelope and atomic obstacles...
Navigation of a car-like robot in environments with unknowns requires effective on-line planning of nonholonomic trajectories. We propose a set of basic maneuver patterns based on Bezier curves that allow either forward or backward motion as building blocks to create nonholonomic trajectories quickly, given a sequence of knot positions/points (e.g., from some GPS navigator). These maneuver patterns...
This paper introduces a novel and general real-time adaptive motion planning (RAMP) approach suitable for planning trajectories of high-DOF or redundant robots, such as mobile manipulators, in dynamic environments with moving obstacles of unknown trajectories. The RAMP approach enables simultaneous path and trajectory planning and simultaneous planning and execution of motion in real time. It facilitates...
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