Online motion-plan modification in dynamic environments : collision-free range of motion approach
Abstract/Contents
- Abstract
- The demand and the applications of personal and service robots are continuously growing, and robots have begun complementing instead of replacing humans. As a result, newly emerging applications challenge robots to have the capability of continuously updating their motion plans in dynamically changing situations. This dissertation introduces new efficient methodology for an online motion-plan modification. To generate collision-free motions in dynamic environments, a new approach based on the robot Motion Range is introduced, and an online plan modification layer and a new collision checking algorithm are added to compute continuous motions within the Motion Range online. Even if obstacles suddenly appear in run-time and the plan is not modified yet, the robot is allowed to react to the sudden changes in the free space of the Motion Range by the real-time execution strategy. For the real-time execution, low-level motion controllers are implemented, which enable complex robots to move through their Motion Range while complying with multiple task conditions and constraints. This approach was experimentally validated by various complex robots, which can effectively move in unpredictably changing scenarios by deploying the Motion Range concept, the new collision checking algorithm, and the reactive controllers.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Publication date | 2014 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Kwon, Jin Sung |
|---|---|
| Associated with | Stanford University, Department of Mechanical Engineering. |
| Primary advisor | Khatib, Oussama |
| Thesis advisor | Khatib, Oussama |
| Thesis advisor | Cutkosky, Mark R |
| Thesis advisor | Waldron, Kenneth J |
| Advisor | Cutkosky, Mark R |
| Advisor | Waldron, Kenneth J |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | Jin Sung Kwon. |
|---|---|
| Note | Submitted to the Department of Mechanical Engineering. |
| Thesis | Thesis (Ph.D.)--Stanford University, 2014. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2014 by Jin Sung Kwon
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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