Skip to main content
SpringerLink
Log in

Construction of C-space roadmaps from local sensory data. What should the sensors look for?

  • Published:
Algorithmica Aims and scope Submit manuscript

Abstract

This paper presents an incremental navigation strategy for general articulated robots:the robot may start with no a priori information about its environment, and is guaranteed either to find the goal if it is reachable or halt. The strategy, termed theincremental roadmap algorithm, constructs a roadmap based on on-line distance data which is encoded as a repulsive potential field. The incremental behavior is achieved with two novel abstract sensors: thecritical-point detector and thepassage-point detector. The detectors provide a complete characterization of what the robot should look for in its configuration space to achieve globally convergent navigation. The approach thus provides a new framework, which will hopefully yield the first navigation algorithm that is both completely general and practical.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. J. Barraquand and J. Latombe. A monte-carlo algorithm for path-planning with many degrees of freedom.Proceedings of ICRA, pages 1712–1717, Cincinnati, OH, May 1990.

  2. J. F. Canny.The Complexity of Robot Motion Planning. MIT Press, Cambridge, MA, 1988.

    Google Scholar 

  3. J. F. Canny. Personal communication, Oct. 1993.

  4. J. F. Canny and M. C. Lin. An opportunistic global path planner.Algorithmica, 10:102–120, 1993.

    Article  MATH  MathSciNet  Google Scholar 

  5. F. H. Clarke.Optimization and Nonsmooth Analysis. SIAM, Philadelphia, PA, 1990.

    Google Scholar 

  6. J. Connell. A hybrid architecture applied to robot navigation.IEEE International Conference on Robotics and Automation, pages 2719–2724, Nice, May 1992.

  7. J. Cox and C.-K. Yap. On-line motion planning: Case of a planar rod.Annals of Mathematics and Artificial Intelligence, 3:1–20, 1991.

    Article  MATH  Google Scholar 

  8. B. R. Donald. Information invariants in robotics: I—state, communication, and side-effects. InProceedings of IEEE International Conference on Robotics and Automation, pages 276–283, Atlanta, GA, May 1993.

  9. B. Faverjon and P. Tournassoud. A practical approach to motion planning for manipulators with many degrees of freedom.Proceedings of ISRR, pages 65–73, Tokyo, 1989.

  10. Goresky and Macpherson.Stratified Morse Theory. Springer-Verlag, New York, 1980.

    MATH  Google Scholar 

  11. D. Kapur and Y. N. Lakshman. Elimination methods: An introduction.Journal of Symbolic Computation, 11:42–58, 1992.

    Google Scholar 

  12. O. Khatib. Real time obstacle avoidance for manipulators and mobile robots.The International Journal of Robotics Research, 5(1):90–99, 1986.

    MathSciNet  Google Scholar 

  13. V. J. Lumelsky and A. Stepanov. Path planning strategies for point automaton moving amidst unknown obstacles of arbitrary shape.Algorithmica, 2:402–430, 1987.

    Article  MathSciNet  Google Scholar 

  14. L. Nirenberg. Variational and topological methods in nonlinear problems.Bulletin of the AMS, 4(3):267–302, May 1981.

    MATH  MathSciNet  Google Scholar 

  15. R. S. Palais and C.-L. Terng.Critical Point Theory and Submanifold Geometry. Lecture Notes in Mathematics, volume 35. Springer-Verlag, Berlin, 1988.

    MATH  Google Scholar 

  16. T. Poston and I. Stewart.Catastrophe Theory and Its Applications. Pitman, London, 1978.

    MATH  Google Scholar 

  17. E. Rimon and J. F. Canny. Construction of c-space roadmaps using local sensory data. Technical Report, Department of Computer Science, Berkeley University, June 1992 (revised June 1993).

  18. E. Rimon and D. E. Koditschek. Exact robot navigation using artificial potential functions.IEEE Transactions on Robotics and Automation, 8(5):501–518, Oct. 1992.

    Article  Google Scholar 

  19. J. T. Schwartz and M. Sharir. On the “piano movers” problem. II. General techniques for computing topological properties of real algebraic manifolds.Advances in Applied Mathematics, 4(1):298–351, 1983.

    Article  MATH  MathSciNet  Google Scholar 

  20. J. T. Schwartz and M. Sharir. A survey of motion planning and related geometric algorithms.International Journal of Artificial Intelligence, 37:157–169, 1988.

    Article  MATH  MathSciNet  Google Scholar 

  21. C. Yap. Algorithmic motion planning. In J. T. Schwartz and C. Yap, editorsAdvances in Robotics, volume 1, pages 95–143. Erlbaum, Hillsdale, NJ, 1987.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Technion, Technion City, 32000, Haifa, Israel

    E. Rimon

Authors
  1. E. Rimon
    View author publications

    You can also search for this author in PubMed Google Scholar

Additional information

Communicated by C. K. Yap.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Rimon, E. Construction of C-space roadmaps from local sensory data. What should the sensors look for?. Algorithmica 17, 357–379 (1997). https://doi.org/10.1007/BF02523678

Download citation

  • Received:

  • Revised:

  • Issue Date:

  • DOI: https://doi.org/10.1007/BF02523678

Key Words

Search

Navigation