Sampling-based motion planning

Written by Ing. Vojtěch Vonásek

Ing. Vojtěch Vonásek

FEL ČVUT

Seminar in Czech
December 3, 2015 at 11:00
University of West Bohemia, UN309 

Abstrakt:

The task of motion planning is to find a feasible motion for a given object. Motion planning is studied mainly in robotics, but its applications can be found also in other areas like CAD systems or computational biology. A wide range of planning problems can be approached using sampling-based planning methods (PRM, RRT), that randomly sample configuration space of the object. Sampling-based planners can find motion/path for arbitrary objects with a possibility to consider motion constraints (e.g. speed of motion, relative positions etc.).
In this presentation, sampling-based motion planning will be presented together with their pros and cons. Besides applications in robotics, methods for path planning of 3D objects will be described.