An efficient algorithm for one-step planar compliant motion planning with uncertainty | Zendy

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An efficient algorithm for one-step planar compliant motion planning with uncertainty

Author(s) -

Amy Briggs

Publication year - 1992

Publication title -

algorithmica

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.647

H-Index - 78

eISSN - 1432-0541

pISSN - 0178-4617

DOI - 10.1007/bf01758843

Subject(s) - position (finance) , motion (physics) , obstacle , theory of computation , computer science , motion planning , robot , algorithm , function (biology) , computation , quadratic equation , planar , upper and lower bounds , computer vision , artificial intelligence , mathematics , geometry , computer graphics (images) , mathematical analysis , finance , evolutionary biology , political science , law , economics , biology

Uncertainty in the execution of robot motion plans must be accounted for in the geometric computations from which plans are obtained, especially in the case where position sensing is inaccurate. We give anO(n 2 logn) algorithm to find a single commanded motion direction that will guarantee a successful motion in the plane from a specified start to a specified goal whenever such a one-step motion is possible. The plans account for uncertainty in the start position and in robot control, and anticipate that the robot may stick on or slide along obstacle surfaces with which it comes in contact. This bound improves on the best previous bound by a quadratic factor, and is achieved in part by a new analysis of the geometric complexity of the backprojection of the goal as a function of commanded motion direction.

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