相关论文: FDSPC: Fast and Direct Smooth Path Planning via Co…

In this work, we propose a novel and efficient method for smoothing polylines in motion planning tasks. The algorithm applies to motion planning of vehicles with bounded curvature. In the paper, we show that the generated path: 1) has…

Path planning for wheeled mobile robots is a critical component in the field of automation and intelligent transportation systems. Car-like vehicles, which have non-holonomic constraints on their movement capability impose additional…

We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the number of these safe boxes is large, and basic preprocessing of…

Real-time motion planning is a vital function of robotic systems. Different from existing roadmap algorithms which first determine the free space and then determine the collision-free path, researchers recently proposed several convex…

This paper explores a rapid, optimal smooth path-planning algorithm for robots (e.g., autonomous vehicles) in point cloud environments. Derivative maps such as dense point clouds, mesh maps, Octomaps, etc. are frequently used for path…

Path generation, the process of converting high-level mission specifications, such as sequences of waypoints from a path planner, into smooth, executable paths, is a fundamental challenge in mobile robotics. Most path following and…

We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

In this paper, we present a novel path planning algorithm to achieve fast path planning in complex environments. Most existing path planning algorithms are difficult to quickly find a feasible path in complex environments or even fail.…

The Dijkstra algorithm is a classic path planning method, which in a discrete graph space, can start from a specified source node and find the shortest path between the source node and all other nodes in the graph. However, to the best of…

Effective path planning is a pivotal challenge across various domains, from robotics to logistics and beyond. This research is centred on the development and evaluation of the Dynamic Curvature-Constrained Path Planning Algorithm (DCCPPA)…

Rapidly-exploring random tree (RRT) has been applied for autonomous parking due to quickly solving high-dimensional motion planning and easily reflecting constraints. However, planning time increases by the low probability of extending…

For rapid growth in technology and automation, human tasks are being taken over by robots as robots have proven to be better with both speed and precision. One of the major and widespread usages of these robots is in the industrial…

In order to safely and efficiently collaborate with humans, industrial robots need the ability to alter their motions quickly to react to sudden changes in the environment, such as an obstacle appearing across a planned trajectory. In…

We propose the Selective Densification method for fast motion planning through configuration space. We create a sequence of roadmaps by iteratively adding configurations. We organize these roadmaps into layers and add edges between…

Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…

Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…

This paper presents evolutionary methods for optimization in dynamic mobile robot path planning. In dynamic mobile path planning, the goal is to find an optimal feasible path from starting point to target point with various obstacles, as…

For autonomous quadruped robot navigation in various complex environments, a typical SOTA system is composed of four main modules -- mapper, global planner, local planner, and command-tracking controller -- in a hierarchical manner. In this…

This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…