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Title:A Framework for Real-Time Path Planning in Changing Environments
Author(s):Leven, Peter J.
Doctoral Committee Chair(s):Seth Hutchinson
Department / Program:Electrical Engineering
Discipline:Electrical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(s):Engineering, Electronics and Electrical
Abstract:As part of our presentation, we discuss the construction of the roadmap, including how samples of the configuration space may be generated and how to connect the samples to form the roadmap. We then discuss the mapping from the workspace to the roadmap, explaining efficient techniques for its generation and representation. We continue with some robustness measures and how these may be used to enhance the robustness of the roadmap. We then present an extension of our method for mobile robots. Finally, we evaluate an implementation of our approach for serial-link manipulators with up to 20 joints.
Issue Date:2001
Description:113 p.
Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2001.
Other Identifier(s):(MiAaPQ)AAI3017143
Date Available in IDEALS:2015-09-25
Date Deposited:2001

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