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- W2167631415 abstract "It is essential for any approach to motion planning to account for some spatial representation of obstacles where collision-free paths could be found efficiently. This problem has been extensively studied by the robotics community and has traditionally led to two different research areas. On the one hand we have motion planning approaches, where an optimal path is computed for a known scenario and a target location. The Configuration Space (C-Space) (Lozano-Perez, 1983) has been successfully employed as representation in this scope. In C-Space the robot can be represented as a single point in the high-dimensionality space of its degrees of freedom. On the other hand, some navigation approaches deal with unknown or dynamic scenarios, where motion commands must be periodically computed in real-time during navigation (that is, there is no planning). Under these approaches, called reactive or obstacle avoidance, the navigator procedure can be conveniently seen as a mapping between sensor readings and motor action (Arkin, 1998). Although reactive methods are quite efficient and have simple implementations, many of them do not work properly in practical applications since they often rely on too restrictive assumptions, like a point or circular representation of robots or considering movements in any direction, that is, ignoring kinematic restrictions. C-Space is not an appropriate space representation for reactive methods due to its complexity, which prohibits real-time execution. Hence simplifications of C-Space have been proposed specifically for reactive methods. Finally, combinations of the two above approaches have also been proposed (Khatib et al., 1997; Lamiraux et al., 2004; Quinlan and Khatib, 1993), which usually start computing a planned path based on a known static map, and then deform it dynamically to avoid collision with unexpected obstacles. These hybrid approaches successfully solve the navigation problem in many situations, but purely reactive methods are still required for partially known or highly dynamic scenarios, where an a priori planned path may need excessive deformation to be successfully constructed by a hybrid method. In this work we address purely reactive methods exclusively, concretely, the problem of reactively driving a kinematically-constrained, any-shape mobile robots in a planar scenario. This problem requires finding movements that approach the target location while avoiding obstacles and fulfilling the robot kinematic restrictions. Our main contribution is related to the process for detecting free-space around the robot, which is the basis for a reactive" @default.
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- W2167631415 date "2008-06-01" @default.
- W2167631415 modified "2023-09-25" @default.
- W2167631415 title "Foundations of Parameterized Trajectoriesbased Space Transformations for Obstacle Avoidance" @default.
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- W2167631415 doi "https://doi.org/10.5772/6023" @default.
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