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Probabilistic Roadmap
The probabilistic roadmap planner is a motion planning algorithm in robotics, which solves the problem of determining a path between a starting configuration of the robot and a goal configuration while avoiding collisions. The basic idea behind PRM is to take random samples from the Configuration space (physics), configuration space of the robot, testing them for whether they are in the free space, and use a local planner to attempt to connect these configurations to other nearby configurations. The starting and goal configurations are added in, and a graph search algorithm is applied to the resulting Graph (discrete mathematics), graph to determine a path between the starting and goal configurations. The probabilistic roadmap planner consists of two phases: a construction and a query phase. In the construction phase, a roadmap (graph) is built, approximating the motions that can be made in the environment. First, a random configuration is created. Then, it is connected to some n ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
Motion Planning
Motion planning, also path planning (also known as the navigation problem or the piano mover's problem) is a computational problem to find a sequence of valid configurations that moves the object from the source to destination. The term is used in computational geometry, computer animation, robotics and computer games. For example, consider navigating a mobile robot inside a building to a distant waypoint. It should execute this task while avoiding walls and not falling down stairs. A motion planning algorithm would take a description of these tasks as input, and produce the speed and turning commands sent to the robot's wheels. Motion planning algorithms might address robots with a larger number of joints (e.g., industrial manipulators), more complex tasks (e.g. manipulation of objects), different constraints (e.g., a car that can only drive forward), and uncertainty (e.g. imperfect models of the environment or robot). Motion planning has several robotics applications, such ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
PRM With Ob-maps
Business * Partner relationship management, in IT * Person with reduced mobility, in transport * Professional Risk Manager, a certification Computer science * Probabilistic relational model * Probabilistic roadmap in robotics Government and politics * Bureau of Population, Refugees, and Migration, of US State Department * ''Partido de la Revolución Mexicana'' (Party of the Mexican Revolution), later Institutional Revolutionary Party (''Partido Revolucionario Institucional'', PRI) * ''Partido Revolucionario Moderno'' (Modern Revolutionary Party), Dominican Republic * ''Partidul România Mare'' or Greater Romania Party, ultra-nationalist party * ''Parti de Regroupement Mauritanien'' or Mauritanian Regroupment Party, a former party * ''Parti Rakyat Malaysia'', party in Malaysia * ''Partido Republicano Mineiro'' or Republican Party of Minas Gerais, Brazilian party 1888-1937 * ''Partido Revolucionário de Moçambique'' or Revolutionary Party of Mozambique, Mozambican rebel group ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
Configuration Space (physics)
In classical mechanics, the parameters that define the configuration of a system are called '' generalized coordinates,'' and the space defined by these coordinates is called the configuration space of the physical system. It is often the case that these parameters satisfy mathematical constraints, such that the set of actual configurations of the system is a manifold in the space of generalized coordinates. This manifold is called the configuration manifold of the system. Notice that this is a notion of "unrestricted" configuration space, i.e. in which different point particles may occupy the same position. In mathematics, in particular in topology, a notion of "restricted" configuration space is mostly used, in which the diagonals, representing "colliding" particles, are removed. Examples A particle in 3D space The position of a single particle moving in ordinary Euclidean 3-space is defined by the vector q=(x,y,z), and therefore its ''configuration space'' is Q=\mathbb^3. ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
Graph Search Algorithm
In computer science, graph traversal (also known as graph search) refers to the process of visiting (checking and/or updating) each vertex in a graph. Such traversals are classified by the order in which the vertices are visited. Tree traversal is a special case of graph traversal. Redundancy Unlike tree traversal, graph traversal may require that some vertices be visited more than once, since it is not necessarily known before transitioning to a vertex that it has already been explored. As graphs become more dense, this redundancy becomes more prevalent, causing computation time to increase; as graphs become more sparse, the opposite holds true. Thus, it is usually necessary to remember which vertices have already been explored by the algorithm, so that vertices are revisited as infrequently as possible (or in the worst case, to prevent the traversal from continuing indefinitely). This may be accomplished by associating each vertex of the graph with a "color" or "visitation" st ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
