NDLI: A "capacitor" bridge builder based safe path planner for difficult regions identification in changing environments

Content Provider	IEEE Xplore Digital Library
Author	Hong Liu Tianwei Zhang Chuangqi Wang
Copyright Year	2012
Description	Author affiliation: Key Laboratory of Integrated Microsystem, Shenzhen Graduate School, Peking University, China (Tianwei Zhang; Chuangqi Wang) \|\| Key Laboratory of Machine Perception and Intelligence, Shenzhen Graduate School, Peking University, China (Hong Liu)
Abstract	Finding paths in difficult regions of C-space, such as narrow passages and configuration obstacle boundaries, is a rather challenging problem for path planning in changing environments. When obstacles move in W-space, these regions in C-space will change their edge points from free to collision or on the contrary, for which a “Capacitor” Bridge Builder (CBB) is proposed in this paper to identify their changing characteristics. Specifically, a “Capacitor” bridge is built between positive and negative toggled points in C-Space, which looks like capacitors stuck between narrow passages or boundary regions. Through CBB, the back boundary of an obstacle, which is less likely to be occupied immediately, is marked as a temporary safe region. Furthermore, a Half Bridge Strategy (HBS) is novelly proposed to boost samples inside these regions. Eventually, highly safe paths are revealed by predicting moving directions of obstacles, then replanning times and total planning times will be decreased significantly. Effectiveness of the proposed method has been verified by experiments with two manipulators in difficult changing environments.
Starting Page	3179
Ending Page	3186
File Size	1831222
Page Count	8
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6386059
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Bridges Planning Capacitors Robots Collision avoidance Bridge circuits Educational institutions
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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