Principles of Robot Motion : Theory, Algorithms, and Implementations.pdf

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Foreword

Preface

Acknowledgments

1 Introduction

2 Bug Algorithms

3 Configuration Space

4 Potential Functions

5 Roadmaps

6 Cell Decompositions

7 Sampling-Based Algorithms

8 Kalman Filtering

9 Bayesian Methods

10 Robot Dynamics

11 Trajectory Planning

12 Nonholonomic and Underactuated Systems

A Mathematical Notation

B Basic Set Definitions

C Topology and Metric Spaces

D Curve Tracing

E Representations of Orientation

F Polyhedral Robots in Polyhedral Worlds

G Analysis of Algorithms and Complexity Classes

H Graph Representation and Basic Search

I Statistics Primer

J Linear Systems and Control

Bibliography

Index

Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki, and Sebastian Thrun foreword by Jean-Claude Latombe Principles of Robot Motion Theory, Algorithms, and Implementations

Choset-79066 book February 23, 2005 13:40 Principles of Robot Motion

Choset-79066 book February 23, 2005 13:40 Intelligent Robotics and Autonomous Agents Ronald C. Arkin, editor Behavior-Based Robotics, Ronald C. Arkin, 1998 Robot Shaping: An Experiment in Behavior Engineering, Marco Dorigo and Marco Colombetti, 1998 Layered Learning in Multiagent Systems: A Winning Approach to Robotic Soccer, Peter Stone, 2000 Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines, Stefano Nolfi and Dario Floreano, 2000 Reasoning about Rational Agents, Michael Wooldridge, 2000 Introduction to AI Robotics, Robin R. Murphy, 2000 Strategic Negotiation in Multiagent Environments, Sarit Kraus, 2001 Mechanics of Robotic Manipulation, Matthew T. Mason, 2001 Designing Sociable Robots, Cynthia L. Breazeal, 2001 Introduction to Autonomous Mobile Robots, Roland Siegwart and Illah R. Nourbakhsh, 2004 Principles of Robot Motion: Theory, Algorithms, and Implementations, Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki and Sebastian Thrun, 2005

Choset-79066 book February 23, 2005 13:40 Principles of Robot Motion Theory, Algorithms, and Implementation Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki, and Sebastian Thrun A Bradford Book The MIT Press Cambridge, Massachusetts London, England

Choset-79066 book February 23, 2005 13:40 ©2005 Massachusetts Institute of Technology All rights reserved. No part of this book may be reproduced in any form by any electronic or mechanical means (including photocopying, recording, or information storage and retrieval) without permission in writing from the publisher. MIT Press books may be purchased at special quantity discounts for business or sales promotional use. For information, please email special sales@mitpress.mit.edu or write to Special Sales Department, The MIT Press, 5 Cambridge Center, Cambridge, MA 02142. This book was set in LATEX2e by Interactive Composition Corporation and was printed and bound in the United States of America. Library of Congress Cataloging-in-Publication Data Principles of robot motion : theory, algorithms, and implementation/Howie Choset [et al.]. p. cm. (Intelligent robotics and autonomous agents) “A Bradford book.” Includes bibliographical references and index. ISN 0-262-03327-5 (alk. paper) 1. Robots—Motion. I. Choset, Howie M. II. Series. TJ211.4.P75 2004 629.8 92—dc22 10 9 8 7 6 5 4 3 2 1 2004044906

Choset-79066 book February 23, 2005 13:40 To our families

Choset-79066 book February 23, 2005 13:40

Choset-79066 book February 23, 2005 13:40 Contents Foreword xv Preface xvii Acknowledgments xxi 1 Introduction 1 Overview of Concepts in Motion Planning Overview of the Book 1.1 1.2 1.3 Mathematical Style 12 13 2 Bug Algorithms 9 31 2.1 2.2 2.3 17 17 Bug1 and Bug2 Tangent Bug Implementation 2.3.1 What Information: The Tangent Line 2.3.2 23 30 How to Infer Information with Sensors: Distance and Gradient How to Process Sensor Information: Continuation Methods 32 35 2.3.3 3 Conﬁguration Space 39 3.1 3.2 3.3 40 Specifying a Robot’s Conﬁguration Obstacles and the Conﬁguration Space 43 3.2.1 3.2.2 45 The Dimension of the Conﬁguration Space Circular Mobile Robot Two-Joint Planar Arm 43 47

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