NDLI: Efficient path planning for mobile robots in environments with deformable objects

Content Provider	IEEE Xplore Digital Library
Author	Frank, B. Becker, M. Stachniss, C. Burgard, W. Teschner, M.
Copyright Year	2008
Description	Author affiliation: Dept. of Comput. Sci., Univ. of Freiburg, Freiburg (Frank, B.; Becker, M.; Stachniss, C.; Burgard, W.; Teschner, M.)
Abstract	The ability to reliably navigate through the environment is an important prerequisite for truly autonomous robots. In this paper, we consider the problem of path planning in environments with non-rigid obstacles such as curtains or plants. We present an approach that combines probabilistic roadmaps with a physical simulation of object deformations to determine a path that optimizes the trade-off between the deformation cost and the distance to be traveled. We describe how our approach utilizes Finite Element theory for calculating the deformation cost. Since the high computational requirements of the corresponding simulation prevent this method from being applicable online, we present an approximation that uses a preprocessing step to determine a deformation cost function for each object. This cost function allows us to estimate the deformation costs of arbitrary paths through the objects and is used to evaluate the trajectories generated by the roadmap planner online. We present experiments which demonstrate that the resulting algorithm plans nearly identical trajectories compared to the method that relies on computationally intense simulations. At the same time, our approach allows the robot to quickly calculate paths in environments with deformable objects.
Starting Page	3737
Ending Page	3742
File Size	751979
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543784
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Mobile robots Cost function Computational modeling Deformable models Robotics and automation Navigation Finite element methods Orbital robotics USA Councils
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Smooth path planning in constrained environments

A dynamic subgoal path planner for unpredictable environments

Efficient cost computation in cost map planning for non-circular robots

Planning most-likely paths from overhead imagery

A Bug-inspired algorithm for efficient anytime path planning

Mobile Robot Path Planning in Dynamic Environments

Needle path planning for digital breast tomosynthesis biopsy

Framed-quadtree path planning for mobile robots operating in sparse environments

Searching for objects: Combining multiple cues to object locations using a maximum entropy model

Efficient path planning for mobile robots in environments with deformable objects

Similar Documents

Smooth path planning in constrained environments

A dynamic subgoal path planner for unpredictable environments

Efficient cost computation in cost map planning for non-circular robots

Planning most-likely paths from overhead imagery

A Bug-inspired algorithm for efficient anytime path planning

Mobile Robot Path Planning in Dynamic Environments

Needle path planning for digital breast tomosynthesis biopsy

Framed-quadtree path planning for mobile robots operating in sparse environments

Searching for objects: Combining multiple cues to object locations using a maximum entropy model

Efficient path planning for mobile robots in environments with deformable objects