NDLI: A Path Planner in Changing Environments by Using W-C Nodes Mapping Coupled with Lazy Edges Evaluation

Content Provider	IEEE Xplore Digital Library
Author	Hong Liu Xuezhi Deng Hongbin Zha Ding Ding
Copyright Year	2006
Description	Author affiliation: Nat. Lab on Machine Perception, Peking Univ., Beijing (Hong Liu; Xuezhi Deng; Hongbin Zha; Ding Ding)
Abstract	This paper presents a path planner based on PRM framework for robots operating in changing environments, in which obstacles can move randomly and robots may change their original shapes, e.g. a robot manipulator grasps an object. W-C nodes mapping coupled with lazy edges evaluation is used to ensure a generated path containing only valid nodes and edges when constructed probabilistic roadmap becomes partially invalid in changing environments. Our method combines merits of DRM and Lazy PRM methods. W-C nodes mapping, which is constructed in pre-processing phase by mapping every basic cell in workspace to nodes of roadmap, is preserved to indicate invalid nodes of roadmap fast whenever obstacles move. W-C edges mapping, which is another mapping relationship of DRM method, is skipped since it is much more complicated and time-consuming for construction. The simplified mapping with smaller size can be recomputed or modified fast when robots change their original shapes. Instead, lazy edges evaluation is used to ensure all edges valid along a found path. Simulated experiments for a dual-manipulator system show that our method is efficient for path planning in changing environments
Starting Page	4078
Ending Page	4083
File Size	8064896
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281872
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Shape Intelligent robots Costs Optical wavelength conversion Manipulators Orbital robotics Robustness Acceleration Performance evaluation Lazy Evaluation Path Planning Dynamic Environments PRM Dynamic Roadmaps
Content Type	Text
Resource Type	Article

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