Obstacle representation by Bump-surfaces for optimal motion-planning
This paper introduces a new method for global, near optimal, motion-planning of a robot (either mobile or redundant manipulator) moving in an environment cluttered with a priori known prohibited areas which have arbitrary shape, size and location. The proposed method is based on the novel notion of...
Saved in:
| Published in | Robotics and autonomous systems Vol. 51; no. 2; pp. 129 - 150 |
|---|---|
| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier B.V
31.05.2005
|
| Subjects | |
| Online Access | Get full text |
| ISSN | 0921-8890 1872-793X |
| DOI | 10.1016/j.robot.2004.11.001 |
Cover
| Abstract | This paper introduces a new method for global, near optimal, motion-planning of a robot (either mobile or redundant manipulator) moving in an environment cluttered with a priori known prohibited areas which have arbitrary shape, size and location. The proposed method is based on the novel notion of Bump-surfaces (or B-surfaces) which represent the entire robot environment through a single mathematical entity. The motion-planning solution is searched on a higher-dimension B-surface in such a way that its inverse image into the robot environment satisfies the given objectives and constraints. The computed solution for a mobile robot consists of a smooth curve without self-loops which connects the starting and destination points with the shortest possible path. The same approach is also used for
nth degree-of-freedom manipulators where the end-effector reaches the destination position following a smooth short path avoiding the prohibited areas. For clarity reasons the proposed method is introduced in this paper for the case of a two-dimensional (2D) planar terrain with static obstacles, while a generalization to motion-planning problems on curved terrains is also discussed. Extensive experiments are presented and discussed to illustrate the efficiency and effectiveness of the proposed motion-planning method in a variety of complex environments. |
|---|---|
| AbstractList | This paper introduces a new method for global, near optimal, motion-planning of a robot (either mobile or redundant manipulator) moving in an environment cluttered with a priori known prohibited areas which have arbitrary shape, size and location. The proposed method is based on the novel notion of Bump-surfaces (or B-surfaces) which represent the entire robot environment through a single mathematical entity. The motion-planning solution is searched on a higher-dimension B-surface in such a way that its inverse image into the robot environment satisfies the given objectives and constraints. The computed solution for a mobile robot consists of a smooth curve without self-loops which connects the starting and destination points with the shortest possible path. The same approach is also used for
nth degree-of-freedom manipulators where the end-effector reaches the destination position following a smooth short path avoiding the prohibited areas. For clarity reasons the proposed method is introduced in this paper for the case of a two-dimensional (2D) planar terrain with static obstacles, while a generalization to motion-planning problems on curved terrains is also discussed. Extensive experiments are presented and discussed to illustrate the efficiency and effectiveness of the proposed motion-planning method in a variety of complex environments. |
| Author | Azariadis, Philip N. Aspragathos, Nikos A. |
| Author_xml | – sequence: 1 givenname: Philip N. surname: Azariadis fullname: Azariadis, Philip N. email: azar@aegean.gr organization: University of the Aegean, Department of Product and Systems Design Engineering, 84100 Ermoupolis, Syros, Greece – sequence: 2 givenname: Nikos A. surname: Aspragathos fullname: Aspragathos, Nikos A. email: asprag@mech.upatras.gr organization: University of Patras, Mechanical Engineering and Aeronautics Department, 26500 Patras, Greece |
| BookMark | eNqFkM9OwzAMhyMEEtvgCbj0BVrspl2XAwcYf6VJu4DELWpSB2XqkirJkPb2dIwTBzhYlix_ln_flJ0674ixK4QCAefXmyJ45VNRAlQFYgGAJ2yCi6bMG8HfT9kERIn5YiHgnE1j3AAArxs-YfdrFVOre8oCDYEiudQm612m9tndbjvkcRdMqylmxofMD8lu2z7b-sNOPvStc9Z9XLAz0_aRLn_6jL09Prwun_PV-ullebvKNQeecsGFmBtRG0PGVGPVSpPquhIaxHqheM2RK1JU86Y0WCEIUQmjqjkgjUM-Y-J4VwcfYyAjtT2-m0Jre4kgDzrkRn7rkAcdElGOOkaW_2KHMGYJ-3-omyNFY6xPS0FGbclp6mwgnWTn7Z_8F_N8fnM |
| CitedBy_id | crossref_primary_10_1016_j_jestch_2020_07_002 crossref_primary_10_1177_1729881419844152 crossref_primary_10_3722_cadaps_2008_497_507 crossref_primary_10_1016_j_robot_2015_06_005 crossref_primary_10_1007_s00170_020_06166_0 crossref_primary_10_3390_app12178882 crossref_primary_10_1016_j_rcim_2013_05_002 crossref_primary_10_1080_01969722_2012_659965 crossref_primary_10_1017_S0263574714002872 crossref_primary_10_1108_01439910910932630 crossref_primary_10_1016_j_oceaneng_2018_09_016 crossref_primary_10_1016_j_robot_2008_03_009 crossref_primary_10_3182_20060906_3_IT_2910_00011 crossref_primary_10_1016_j_rcim_2017_10_005 crossref_primary_10_1007_s00170_020_05755_3 crossref_primary_10_1017_S0263574709005748 crossref_primary_10_3182_20090909_4_JP_2010_00092 crossref_primary_10_1016_j_robot_2016_04_008 crossref_primary_10_1016_j_eswa_2011_02_013 crossref_primary_10_1080_16864360_2006_10738453 crossref_primary_10_1017_S0263574724001371 crossref_primary_10_1007_s13369_014_1250_0 crossref_primary_10_1017_dsi_2019_292 crossref_primary_10_3390_s25020446 crossref_primary_10_1007_s00607_006_0190_2 crossref_primary_10_1016_j_robot_2010_10_003 crossref_primary_10_1080_01969722_2021_1909844 crossref_primary_10_3390_robotics13080124 |
| Cites_doi | 10.1145/136035.136037 10.1007/BF01530781 10.1109/TSMC.1985.6313352 10.1016/S0925-7721(01)00012-8 10.1109/ROBOT.1996.506175 10.1109/70.988971 10.1016/S0950-7051(01)00121-6 10.1109/70.976006 10.1016/S0921-8890(98)00036-0 10.1109/TC.1983.1676196 10.1007/s003710050141 10.1137/S009753979732565X 10.1109/5326.971669 10.1016/S0921-8890(96)00035-8 10.1016/S0167-8655(01)00036-8 10.1016/S0377-2217(96)00121-X 10.1006/jcss.1998.1578 10.1109/ROBOT.1996.503581 10.1109/70.631228 10.1109/3468.736370 10.1145/185675.185795 10.1109/70.650170 10.1017/S0263574797000234 10.1109/TSMC.1986.289288 10.1006/jpdc.1995.1051 10.1109/ROBOT.1999.774078 10.1016/S0921-8890(02)00208-7 10.1109/TSMC.1983.6313112 10.1109/JRA.1986.1087051 10.1177/027836498600500106 |
| ContentType | Journal Article |
| Copyright | 2004 Elsevier B.V. |
| Copyright_xml | – notice: 2004 Elsevier B.V. |
| DBID | AAYXX CITATION |
| DOI | 10.1016/j.robot.2004.11.001 |
| DatabaseName | CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1872-793X |
| EndPage | 150 |
| ExternalDocumentID | 10_1016_j_robot_2004_11_001 S0921889004002180 |
| GroupedDBID | --K --M -~X .~1 0R~ 123 1B1 1~. 1~5 29P 4.4 457 4G. 5VS 7-5 71M 8P~ 9JN AABNK AACTN AAEDT AAEDW AAIAV AAIKJ AAKOC AALRI AAOAW AAQFI AAQXK AAXUO AAYFN ABBOA ABFNM ABFRF ABIVO ABJNI ABMAC ABXDB ABYKQ ACDAQ ACGFO ACGFS ACNNM ACRLP ACZNC ADBBV ADEZE ADJOM ADMUD ADTZH AEBSH AECPX AEFWE AEKER AENEX AFFNX AFKWA AFTJW AGHFR AGUBO AGYEJ AHHHB AHJVU AHPGS AHZHX AIALX AIEXJ AIKHN AITUG AJBFU AJOXV ALMA_UNASSIGNED_HOLDINGS AMFUW AMRAJ AOUOD ASPBG AVWKF AXJTR AZFZN BJAXD BKOJK BLXMC CS3 DU5 EBS EFJIC EFLBG EJD EO8 EO9 EP2 EP3 F5P FDB FEDTE FGOYB FIRID FNPLU FYGXN G-2 G-Q GBLVA GBOLZ HLZ HVGLF HZ~ H~9 IHE J1W JJJVA KOM LG9 LY7 M41 MO0 N9A O-L O9- OAUVE OZT P-8 P-9 P2P PC. Q38 R2- RIG ROL RPZ RXW SBC SCC SDF SDG SDP SES SET SEW SPC SPCBC SST SSV SSZ T5K TAE UNMZH WUQ XPP ~G- AATTM AAXKI AAYWO AAYXX ABWVN ACRPL ACVFH ADCNI ADNMO AEIPS AEUPX AFJKZ AFPUW AFXIZ AGCQF AGQPQ AGRNS AIGII AIIUN AKBMS AKRWK AKYEP ANKPU APXCP BNPGV CITATION SSH |
| ID | FETCH-LOGICAL-c303t-93996f95ffeff4eff5bcebdd2071158b35313bebe5372f14109949fb4601ee533 |
| IEDL.DBID | .~1 |
| ISSN | 0921-8890 |
| IngestDate | Tue Jul 01 01:41:30 EDT 2025 Thu Apr 24 23:08:56 EDT 2025 Fri Feb 23 02:30:47 EST 2024 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 2 |
| Keywords | Obstacles Motion-planning Path-planning Manipulators Conjugate gradient Mobile robots Articulated robots Genetic algorithms |
| Language | English |
| License | https://www.elsevier.com/tdm/userlicense/1.0 |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c303t-93996f95ffeff4eff5bcebdd2071158b35313bebe5372f14109949fb4601ee533 |
| PageCount | 22 |
| ParticipantIDs | crossref_citationtrail_10_1016_j_robot_2004_11_001 crossref_primary_10_1016_j_robot_2004_11_001 elsevier_sciencedirect_doi_10_1016_j_robot_2004_11_001 |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | 2005-05-31 |
| PublicationDateYYYYMMDD | 2005-05-31 |
| PublicationDate_xml | – month: 05 year: 2005 text: 2005-05-31 day: 31 |
| PublicationDecade | 2000 |
| PublicationTitle | Robotics and autonomous systems |
| PublicationYear | 2005 |
| Publisher | Elsevier B.V |
| Publisher_xml | – name: Elsevier B.V |
| References | De Jong K.A., An analysis of the behavior of a class of genetic adaptive systems, Doctoral Dissertation, University of Michigan, Dissertation Abstract International, 1975. 36(10), 5140B, (University Microfilms No 76-9381). Rajasekaran, Ramaswami (bib7) 1995; 26 Keerthi, Ong, Huang, Gilbert (bib9) 1999 Zeid (bib37) 1991 Lipschutz (bib38) 1969 Kambhampari, Davis (bib12) 1986; RA-2 Chen, Szezebra, Uhran (bib14) 1997; 13 Nagabhushan, Manohara Pai (bib15) 2001; 22 Kassim, Kummar (bib21) 1999; 26 Chang (bib22) 1996 Murphy, Hughes, Noll (bib25) 1996 Saab, VanPutte (bib24) 1999; SMC-29 Goldberg (bib39) 1989 Hwang, Ahuja (bib1) 1992; 24 Al-Hasan, Vachtsevanos (bib26) 2002; 40 Nearhou, Aspragathos (bib28) 1994 Keymeulen, Decuyper (bib20) 1996 Brooks (bib5) March/April 1983; SMC-13 Cameron (bib29) 1997; 13 Autere (bib18) 2002; 15 Kubota, Fukuda, Shimojima (bib32) 1996; 19 Michalewicz (bib40) 1992 Lozano-Perez (bib3) 1983; C-32 Gupta, Zhu (bib34) 1995; 12 Khatib (bib19) 1986; 5 Asano, Guibas, Hershenberger, Imai (bib6) 1985 Latombe (bib2) 1991 Gupta (bib13) 1996 Overmars (bib11) 2002 Gupta (bib27) 1998; 14 Hormann, Agathos (bib41) 2001; 20 Kavraki, Latombe, Motwani, Raghavan (bib8) 1998; 57 Aytug, Bhattacharrya, Koehler (bib45) 1997; 96 Tsai, Lee, Chuang (bib23) 2001; 31 Nearchou, Aspragathos (bib33) 1997; 15 Piegl, Tiller (bib36) 1997 Grefenstette (bib43) 1986; 16 Storer, Reif (bib17) 1994; 41 Liang, Lin (bib31) 1999 Nix, Vose (bib44) 1992; 5 Brooks, Lozano-Perez (bib16) March/April 1985; SMC-15 Greenhalgh, Marshall (bib46) 2000; 30 Kavraki, Konzoulakis, Latombe (bib10) 1996 Curto, Moreno, Blanco (bib4) 2002; RA-18 Anthimopoulou, Aspragathos (bib30) September 1990 Hourtash, Tarokh (bib35) 2002; RA-17 Kambhampari (10.1016/j.robot.2004.11.001_bib12) 1986; RA-2 Nix (10.1016/j.robot.2004.11.001_bib44) 1992; 5 Hwang (10.1016/j.robot.2004.11.001_bib1) 1992; 24 Brooks (10.1016/j.robot.2004.11.001_bib5) 1983; SMC-13 Cameron (10.1016/j.robot.2004.11.001_bib29) 1997; 13 Goldberg (10.1016/j.robot.2004.11.001_bib39) 1989 Michalewicz (10.1016/j.robot.2004.11.001_bib40) 1992 Khatib (10.1016/j.robot.2004.11.001_bib19) 1986; 5 Storer (10.1016/j.robot.2004.11.001_bib17) 1994; 41 Hourtash (10.1016/j.robot.2004.11.001_bib35) 2002; RA-17 Zeid (10.1016/j.robot.2004.11.001_bib37) 1991 Aytug (10.1016/j.robot.2004.11.001_bib45) 1997; 96 Nagabhushan (10.1016/j.robot.2004.11.001_bib15) 2001; 22 Chang (10.1016/j.robot.2004.11.001_bib22) 1996 Curto (10.1016/j.robot.2004.11.001_bib4) 2002; RA-18 Chen (10.1016/j.robot.2004.11.001_bib14) 1997; 13 Latombe (10.1016/j.robot.2004.11.001_bib2) 1991 Autere (10.1016/j.robot.2004.11.001_bib18) 2002; 15 Kavraki (10.1016/j.robot.2004.11.001_bib8) 1998; 57 Liang (10.1016/j.robot.2004.11.001_bib31) 1999 Keymeulen (10.1016/j.robot.2004.11.001_bib20) 1996 Greenhalgh (10.1016/j.robot.2004.11.001_bib46) 2000; 30 Asano (10.1016/j.robot.2004.11.001_bib6) 1985 Kavraki (10.1016/j.robot.2004.11.001_bib10) 1996 Kassim (10.1016/j.robot.2004.11.001_bib21) 1999; 26 10.1016/j.robot.2004.11.001_bib42 Lozano-Perez (10.1016/j.robot.2004.11.001_bib3) 1983; C-32 Gupta (10.1016/j.robot.2004.11.001_bib13) 1996 Anthimopoulou (10.1016/j.robot.2004.11.001_bib30) 1990 Piegl (10.1016/j.robot.2004.11.001_bib36) 1997 Gupta (10.1016/j.robot.2004.11.001_bib27) 1998; 14 Grefenstette (10.1016/j.robot.2004.11.001_bib43) 1986; 16 Kubota (10.1016/j.robot.2004.11.001_bib32) 1996; 19 Nearhou (10.1016/j.robot.2004.11.001_bib28) 1994 Nearchou (10.1016/j.robot.2004.11.001_bib33) 1997; 15 Saab (10.1016/j.robot.2004.11.001_bib24) 1999; SMC-29 Overmars (10.1016/j.robot.2004.11.001_bib11) 2002 Keerthi (10.1016/j.robot.2004.11.001_bib9) 1999 Lipschutz (10.1016/j.robot.2004.11.001_bib38) 1969 Rajasekaran (10.1016/j.robot.2004.11.001_bib7) 1995; 26 Al-Hasan (10.1016/j.robot.2004.11.001_bib26) 2002; 40 Brooks (10.1016/j.robot.2004.11.001_bib16) 1985; SMC-15 Hormann (10.1016/j.robot.2004.11.001_bib41) 2001; 20 Tsai (10.1016/j.robot.2004.11.001_bib23) 2001; 31 Gupta (10.1016/j.robot.2004.11.001_bib34) 1995; 12 Murphy (10.1016/j.robot.2004.11.001_bib25) 1996 |
| References_xml | – volume: 31 start-page: 405 year: 2001 end-page: 410 ident: bib23 article-title: Path planning of 3D objects using a new workspace model publication-title: IEEE Trans. Syst., Man, Cybern. Part-C – volume: RA-2 start-page: 135 year: 1986 end-page: 145 ident: bib12 article-title: Multi-resolution path planning for mobile robots publication-title: IEEE J. Robot. Auto. – volume: 41 start-page: 982 year: 1994 end-page: 1012 ident: bib17 article-title: Shortest paths in the plane with polygonal obstacles publication-title: J. Asso. Comput. Mach. – volume: 22 start-page: 971 year: 2001 end-page: 982 ident: bib15 article-title: Cognition of free space for planning the shortest path: a framed free space approach publication-title: Pattern Recognit. Lett. – start-page: 108 year: 1996 end-page: 112 ident: bib22 article-title: A new technique to handle local minimum for imperfect potential field based motion planning publication-title: Proceedings of the IEEE International Conference on Robotics and Automation – year: 1969 ident: bib38 article-title: Differential Geometry – volume: 5 start-page: 77 year: 1992 end-page: 88 ident: bib44 article-title: Modeling genetic algorithms with Markov chains publication-title: Ann. Math. Artif. Intell. – volume: 24 start-page: 219 year: 1992 end-page: 290 ident: bib1 article-title: Gross motion planning-a survey publication-title: ACM Comput. Surv. – volume: 13 start-page: 668 year: 1997 end-page: 681 ident: bib14 article-title: A Framed-quadtree approach for determinning euclidean shortest paths in a 2D environment publication-title: IEEE Trans. Robot Auto. – volume: 57 start-page: 50 year: 1998 end-page: 60 ident: bib8 article-title: Randomized query processing in robot path planning publication-title: Comput. Syst. Sci. – start-page: 682 year: 1999 end-page: 687 ident: bib9 article-title: Equidistance diagram–a new roadmap method for path planning publication-title: Proceedings of the IEEE International Conference on Robotics and Automation – volume: RA-18 start-page: 24 year: 2002 end-page: 33 ident: bib4 article-title: A general method for C-space evaluation and its application to articulated robots publication-title: IEEE Trans. Robot. Auto. – volume: 12 start-page: 105 year: 1995 end-page: 118 ident: bib34 article-title: Practical global motion planning for many degrees of freedom: a novel approach within sequential framework publication-title: J. Robot. Syst. – year: 1997 ident: bib36 article-title: The NURBS Book – start-page: 3369 year: 1996 end-page: 3374 ident: bib20 article-title: Self-organizing system for the motion planning of mobile robots publication-title: Proceedings of the IEEE International Conference on Robotics and Automation – volume: 26 start-page: 1 year: 1999 end-page: 22 ident: bib21 article-title: Path planners based on the wave expansion neural network publication-title: Robot. Autonom. Syst. – year: 1991 ident: bib37 article-title: CAD/CAM Theory and practice – volume: 96 start-page: 195 year: 1997 end-page: 201 ident: bib45 article-title: A Markov Chain analysis of genetic algorithms with power of 2 cardinality alphabets publication-title: Eur. J. Operat. Res. – volume: 40 start-page: 1 year: 2002 end-page: 24 ident: bib26 article-title: Intelligent route planning for fast autonomous vehicles operating in a large natural terrain publication-title: Robot. Autonom. Syst. – year: 1994 ident: bib28 article-title: A Collision-detection Scheme Based on Convex-hulls Concept for Generating Kinematically Feasible Robot Trajectories. Advances in Robot Kinematics and Computational Geometry – volume: 19 start-page: 85 year: 1996 end-page: 94 ident: bib32 article-title: Trajectory planning of cellular manipulator system using virus-evolutionary genetic algorithm publication-title: Robot. Autonom. Syst. – year: 1992 ident: bib40 article-title: Genetic Algorithms + Data Structures = Evolution Programs – volume: 20 start-page: 131 year: 2001 end-page: 144 ident: bib41 article-title: The point in polygon problem for arbitrary polygons publication-title: Comput. Geomet. – year: 1991 ident: bib2 article-title: Robot Motion Planning – year: 2002 ident: bib11 article-title: Recent Developments in Motion Planning, ICCS 2002 – reference: De Jong K.A., An analysis of the behavior of a class of genetic adaptive systems, Doctoral Dissertation, University of Michigan, Dissertation Abstract International, 1975. 36(10), 5140B, (University Microfilms No 76-9381). – volume: SMC-13 start-page: 190 year: March/April 1983 end-page: 197 ident: bib5 article-title: Solving the find-path problem by good representation of free space publication-title: IEEE Trans. Syst., Man, Cybern. – volume: 15 start-page: 53 year: 2002 end-page: 66 ident: bib18 article-title: Hierarchical A* based path planning –a case study publication-title: Knowledge-Based Systems – start-page: 380 year: September 1990 end-page: 391 ident: bib30 article-title: Kinematic control of planar manipulators moving between obstacles publication-title: Proceedings of the 2nd International Workshop on Advances in Robot Kinematics – volume: 15 start-page: 213 year: 1997 end-page: 224 ident: bib33 article-title: A genetic path planning algorithm for redundant articulated robots publication-title: Robotica – volume: C-32 start-page: 108 year: 1983 end-page: 120 ident: bib3 article-title: Spatial planning: a configuration space approach publication-title: IEEE Trans. Comput. – volume: 5 start-page: 90 year: 1986 end-page: 98 ident: bib19 article-title: Real-time obstacle avoidance for manipulators and mobile robots publication-title: Int. J. Robot. Res. – volume: SMC-15 start-page: 225 year: March/April 1985 end-page: 233 ident: bib16 article-title: A subdivision algorithm in configuration space for findpath with rotation publication-title: IEEE Trans. Syst., Man, Cybern. – start-page: 3020 year: 1996 end-page: 3025 ident: bib10 article-title: Analysis of probabilistic roadmaps for path planning publication-title: Proceedings of the IEEE International Conference on Robotics and Automation – start-page: 454 year: 1996 end-page: 459 ident: bib13 article-title: Octree-based hierarchical distance maps for collision detection publication-title: Proceedings of the IEEE International Conference on Robotics and Automation, vol. A22–28 – volume: 13 start-page: 915 year: 1997 end-page: 920 ident: bib29 article-title: A comparison of two fast algorithms for computing the distance between convex polyhedra publication-title: IEEE Trans. Robot. Auto. – start-page: 155 year: 1985 end-page: 164 ident: bib6 article-title: Visibility-polygon and euclidean shortest paths publication-title: IEEE Int. Conf. Robot. Auto. – volume: RA-17 start-page: 842 year: 2002 end-page: 856 ident: bib35 article-title: Manipulator path planning by decomposition: algorithm and analysis publication-title: IEEE Trans. Robot. Auto. – year: 1989 ident: bib39 article-title: Genetic Algorithms in Search, Optimization, and Machine Learning – volume: 16 start-page: 122 year: 1986 end-page: 128 ident: bib43 article-title: Optimization of control parameters for genetic algorithms publication-title: IEEE Trans. Syst., Man, Cybern. – volume: 14 start-page: 288 year: 1998 end-page: 302 ident: bib27 article-title: Motion planning for flexible shapes (systems with many degrees of freedom): a survey publication-title: Visual Comput. – volume: 30 start-page: 269 year: 2000 end-page: 282 ident: bib46 article-title: Convergence criteria for genetic algorithms publication-title: SIAM J. Comput. – volume: 26 start-page: 99 year: 1995 end-page: 115 ident: bib7 article-title: Optimal mesh algorithms for the voronoi diagram of line segments and motion planning in the plane publication-title: J. Parall. Distrib. Comput. – volume: SMC-29 start-page: 139 year: 1999 end-page: 150 ident: bib24 article-title: Shortest path planning on topographical maps publication-title: IEEE Trans. Syst., Man, Cybern. – start-page: 2067 year: 1996 end-page: 2072 ident: bib25 article-title: An explicit path planner to facilitate reactive control and terrain preferences publication-title: Proceedings of the IEEE International Conference on Robotics and Automation – start-page: 3153 year: 1999 end-page: 3158 ident: bib31 article-title: An Improved trajectory planner for redundant manipulators in constrained workspace publication-title: Proceedings of the IEEE International Conference on Robotics and Automation – volume: 24 start-page: 219 issue: 3 year: 1992 ident: 10.1016/j.robot.2004.11.001_bib1 article-title: Gross motion planning-a survey publication-title: ACM Comput. Surv. doi: 10.1145/136035.136037 – volume: 5 start-page: 77 year: 1992 ident: 10.1016/j.robot.2004.11.001_bib44 article-title: Modeling genetic algorithms with Markov chains publication-title: Ann. Math. Artif. Intell. doi: 10.1007/BF01530781 – volume: SMC-15 start-page: 225 issue: 2 year: 1985 ident: 10.1016/j.robot.2004.11.001_bib16 article-title: A subdivision algorithm in configuration space for findpath with rotation publication-title: IEEE Trans. Syst., Man, Cybern. doi: 10.1109/TSMC.1985.6313352 – volume: 20 start-page: 131 year: 2001 ident: 10.1016/j.robot.2004.11.001_bib41 article-title: The point in polygon problem for arbitrary polygons publication-title: Comput. Geomet. doi: 10.1016/S0925-7721(01)00012-8 – start-page: 2067 year: 1996 ident: 10.1016/j.robot.2004.11.001_bib25 article-title: An explicit path planner to facilitate reactive control and terrain preferences publication-title: Proceedings of the IEEE International Conference on Robotics and Automation doi: 10.1109/ROBOT.1996.506175 – volume: 12 start-page: 105 year: 1995 ident: 10.1016/j.robot.2004.11.001_bib34 article-title: Practical global motion planning for many degrees of freedom: a novel approach within sequential framework publication-title: J. Robot. Syst. – volume: RA-18 start-page: 24 issue: 1 year: 2002 ident: 10.1016/j.robot.2004.11.001_bib4 article-title: A general method for C-space evaluation and its application to articulated robots publication-title: IEEE Trans. Robot. Auto. doi: 10.1109/70.988971 – year: 1997 ident: 10.1016/j.robot.2004.11.001_bib36 – volume: 15 start-page: 53 year: 2002 ident: 10.1016/j.robot.2004.11.001_bib18 article-title: Hierarchical A* based path planning –a case study publication-title: Knowledge-Based Systems doi: 10.1016/S0950-7051(01)00121-6 – volume: RA-17 start-page: 842 issue: 6 year: 2002 ident: 10.1016/j.robot.2004.11.001_bib35 article-title: Manipulator path planning by decomposition: algorithm and analysis publication-title: IEEE Trans. Robot. Auto. doi: 10.1109/70.976006 – volume: 26 start-page: 1 year: 1999 ident: 10.1016/j.robot.2004.11.001_bib21 article-title: Path planners based on the wave expansion neural network publication-title: Robot. Autonom. Syst. doi: 10.1016/S0921-8890(98)00036-0 – volume: C-32 start-page: 108 issue: 2 year: 1983 ident: 10.1016/j.robot.2004.11.001_bib3 article-title: Spatial planning: a configuration space approach publication-title: IEEE Trans. Comput. doi: 10.1109/TC.1983.1676196 – volume: 14 start-page: 288 year: 1998 ident: 10.1016/j.robot.2004.11.001_bib27 article-title: Motion planning for flexible shapes (systems with many degrees of freedom): a survey publication-title: Visual Comput. doi: 10.1007/s003710050141 – volume: 30 start-page: 269 issue: 1 year: 2000 ident: 10.1016/j.robot.2004.11.001_bib46 article-title: Convergence criteria for genetic algorithms publication-title: SIAM J. Comput. doi: 10.1137/S009753979732565X – year: 1994 ident: 10.1016/j.robot.2004.11.001_bib28 – volume: 31 start-page: 405 issue: 3 year: 2001 ident: 10.1016/j.robot.2004.11.001_bib23 article-title: Path planning of 3D objects using a new workspace model publication-title: IEEE Trans. Syst., Man, Cybern. Part-C doi: 10.1109/5326.971669 – volume: 19 start-page: 85 year: 1996 ident: 10.1016/j.robot.2004.11.001_bib32 article-title: Trajectory planning of cellular manipulator system using virus-evolutionary genetic algorithm publication-title: Robot. Autonom. Syst. doi: 10.1016/S0921-8890(96)00035-8 – volume: 22 start-page: 971 year: 2001 ident: 10.1016/j.robot.2004.11.001_bib15 article-title: Cognition of free space for planning the shortest path: a framed free space approach publication-title: Pattern Recognit. Lett. doi: 10.1016/S0167-8655(01)00036-8 – start-page: 3369 year: 1996 ident: 10.1016/j.robot.2004.11.001_bib20 article-title: Self-organizing system for the motion planning of mobile robots – volume: 96 start-page: 195 issue: 1 year: 1997 ident: 10.1016/j.robot.2004.11.001_bib45 article-title: A Markov Chain analysis of genetic algorithms with power of 2 cardinality alphabets publication-title: Eur. J. Operat. Res. doi: 10.1016/S0377-2217(96)00121-X – year: 1991 ident: 10.1016/j.robot.2004.11.001_bib2 – ident: 10.1016/j.robot.2004.11.001_bib42 – year: 1989 ident: 10.1016/j.robot.2004.11.001_bib39 – start-page: 155 year: 1985 ident: 10.1016/j.robot.2004.11.001_bib6 article-title: Visibility-polygon and euclidean shortest paths – year: 1992 ident: 10.1016/j.robot.2004.11.001_bib40 – volume: 57 start-page: 50 year: 1998 ident: 10.1016/j.robot.2004.11.001_bib8 article-title: Randomized query processing in robot path planning publication-title: Comput. Syst. Sci. doi: 10.1006/jcss.1998.1578 – start-page: 108 year: 1996 ident: 10.1016/j.robot.2004.11.001_bib22 article-title: A new technique to handle local minimum for imperfect potential field based motion planning publication-title: Proceedings of the IEEE International Conference on Robotics and Automation doi: 10.1109/ROBOT.1996.503581 – volume: 13 start-page: 668 issue: 5 year: 1997 ident: 10.1016/j.robot.2004.11.001_bib14 article-title: A Framed-quadtree approach for determinning euclidean shortest paths in a 2D environment publication-title: IEEE Trans. Robot Auto. doi: 10.1109/70.631228 – volume: SMC-29 start-page: 139 issue: 1 year: 1999 ident: 10.1016/j.robot.2004.11.001_bib24 article-title: Shortest path planning on topographical maps publication-title: IEEE Trans. Syst., Man, Cybern. doi: 10.1109/3468.736370 – year: 1991 ident: 10.1016/j.robot.2004.11.001_bib37 – year: 2002 ident: 10.1016/j.robot.2004.11.001_bib11 – volume: 41 start-page: 982 issue: 5 year: 1994 ident: 10.1016/j.robot.2004.11.001_bib17 article-title: Shortest paths in the plane with polygonal obstacles publication-title: J. Asso. Comput. Mach. doi: 10.1145/185675.185795 – volume: 13 start-page: 915 year: 1997 ident: 10.1016/j.robot.2004.11.001_bib29 article-title: A comparison of two fast algorithms for computing the distance between convex polyhedra publication-title: IEEE Trans. Robot. Auto. doi: 10.1109/70.650170 – volume: 15 start-page: 213 year: 1997 ident: 10.1016/j.robot.2004.11.001_bib33 article-title: A genetic path planning algorithm for redundant articulated robots publication-title: Robotica doi: 10.1017/S0263574797000234 – start-page: 380 year: 1990 ident: 10.1016/j.robot.2004.11.001_bib30 article-title: Kinematic control of planar manipulators moving between obstacles – volume: 16 start-page: 122 issue: 1 year: 1986 ident: 10.1016/j.robot.2004.11.001_bib43 article-title: Optimization of control parameters for genetic algorithms publication-title: IEEE Trans. Syst., Man, Cybern. doi: 10.1109/TSMC.1986.289288 – start-page: 3020 year: 1996 ident: 10.1016/j.robot.2004.11.001_bib10 article-title: Analysis of probabilistic roadmaps for path planning – volume: 26 start-page: 99 year: 1995 ident: 10.1016/j.robot.2004.11.001_bib7 article-title: Optimal mesh algorithms for the voronoi diagram of line segments and motion planning in the plane publication-title: J. Parall. Distrib. Comput. doi: 10.1006/jpdc.1995.1051 – start-page: 3153 year: 1999 ident: 10.1016/j.robot.2004.11.001_bib31 article-title: An Improved trajectory planner for redundant manipulators in constrained workspace publication-title: Proceedings of the IEEE International Conference on Robotics and Automation doi: 10.1109/ROBOT.1999.774078 – volume: 40 start-page: 1 year: 2002 ident: 10.1016/j.robot.2004.11.001_bib26 article-title: Intelligent route planning for fast autonomous vehicles operating in a large natural terrain publication-title: Robot. Autonom. Syst. doi: 10.1016/S0921-8890(02)00208-7 – year: 1969 ident: 10.1016/j.robot.2004.11.001_bib38 – volume: SMC-13 start-page: 190 issue: 2 year: 1983 ident: 10.1016/j.robot.2004.11.001_bib5 article-title: Solving the find-path problem by good representation of free space publication-title: IEEE Trans. Syst., Man, Cybern. doi: 10.1109/TSMC.1983.6313112 – start-page: 682 year: 1999 ident: 10.1016/j.robot.2004.11.001_bib9 article-title: Equidistance diagram–a new roadmap method for path planning – volume: RA-2 start-page: 135 issue: 3 year: 1986 ident: 10.1016/j.robot.2004.11.001_bib12 article-title: Multi-resolution path planning for mobile robots publication-title: IEEE J. Robot. Auto. doi: 10.1109/JRA.1986.1087051 – start-page: 454 year: 1996 ident: 10.1016/j.robot.2004.11.001_bib13 article-title: Octree-based hierarchical distance maps for collision detection – volume: 5 start-page: 90 issue: 1 year: 1986 ident: 10.1016/j.robot.2004.11.001_bib19 article-title: Real-time obstacle avoidance for manipulators and mobile robots publication-title: Int. J. Robot. Res. doi: 10.1177/027836498600500106 |
| SSID | ssj0003573 |
| Score | 1.9380889 |
| Snippet | This paper introduces a new method for global, near optimal, motion-planning of a robot (either mobile or redundant manipulator) moving in an environment... |
| SourceID | crossref elsevier |
| SourceType | Enrichment Source Index Database Publisher |
| StartPage | 129 |
| SubjectTerms | Articulated robots Conjugate gradient Genetic algorithms Manipulators Mobile robots Motion-planning Obstacles Path-planning |
| Title | Obstacle representation by Bump-surfaces for optimal motion-planning |
| URI | https://dx.doi.org/10.1016/j.robot.2004.11.001 |
| Volume | 51 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV07T8MwED5VZYEB8RTlUWVgxC1J7CQeSwEVKooEVHSL7NSWiiCpSjuw8Ns5Ow4UIXVgiBI5d1F0du6hfP4O4JSNlekWnZBIsYRQIX0ikkgRFQsuMMLRWJlC8W4Q9Yb0dsRGNehWe2EMrNL5_tKnW2_tRtrOmu3pZNJ-POcYnhJulyFembqd0tis9dbnD8wjZOVfZhQmRrpiHrIYr1khCwuopC1D5ek6w_yJTksR53oLNl2q6HXKt9mGmsp3YGOJQHAXLu8lZnd417PklNVGotyTH94FThR5X8y0AV15mJt6BbqHN3xi2bmHTF2_oj0YXl89dXvE9UUgGQacOeGYVESaM62V1hQPJjMlx-MA0wWfJTLE7yqUODssjANtgJycU64lxeJL4WC4D_W8yNUBeDGVAmVUIqSiWUKF8CnjYTjOOCoFfgOCyh5p5kjDTe-K17RCh72k1oimnSXFcsJg5Bpw9q00LTkzVotHlaHTX1OfoldfpXj4X8UjWLcMrBYEcAz1-WyhTjC3mMumXTxNWOvc9HsDc-4_PPe_AJ-U0Gc |
| linkProvider | Elsevier |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV07T8MwELaqMgAD4inKMwMjbklsJ_EIhapAWwZaqVtkJ7ZUBElV2oGF387ZcaAIqQNDpMi5i6Kzcw_5830IXbBMGbboGIeKxZgK6WMRhwqrSHABEY5GyhSK_UHYHdGHMRvXULs6C2Nglc73lz7dems30nLWbE0nk9bzFYfwFHO7DOEO6vY1ykhkcH3Nzx-cB2HlNjNIYyNetR6yIK9ZIQuLqKRN08vTUcP8CU9LIaezjbZcruhdl5-zg2oq30WbSx0E99Dtk4T0Dp56tjtldZIo9-SHdwMzhd8XM21QVx4kp14B_uEN3lhS9-CpIyzaR6PO3bDdxY4YAacQceaYQ1YRas60VlpTuJhMlcyyAPIFn8WSwI9FJEwPmCPQBsnJOeVaUqi-FAySA1TPi1wdIi-iUoCMioVUNI2pED5lnJAs5aAU-A0UVPZIUtc13JBXvCYVPOwlsUY0fJYU6gkDkmugy2-ladk0Y7V4WBk6-TX3Cbj1VYpH_1U8R-vdYb-X9O4Hj8dow7ZjtYiAE1SfzxbqFBKNuTyzC-kLF1fQVw |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Obstacle+representation+by+Bump-surfaces+for+optimal+motion-planning&rft.jtitle=Robotics+and+autonomous+systems&rft.au=Azariadis%2C+Philip+N.&rft.au=Aspragathos%2C+Nikos+A.&rft.date=2005-05-31&rft.issn=0921-8890&rft.volume=51&rft.issue=2-3&rft.spage=129&rft.epage=150&rft_id=info:doi/10.1016%2Fj.robot.2004.11.001&rft.externalDBID=n%2Fa&rft.externalDocID=10_1016_j_robot_2004_11_001 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0921-8890&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0921-8890&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0921-8890&client=summon |