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Path 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 as ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Computational Problem
In theoretical computer science, a computational problem is one that asks for a solution in terms of an algorithm. For example, the problem of factoring :"Given a positive integer ''n'', find a nontrivial prime factor of ''n''." is a computational problem that has a solution, as there are many known integer factorization algorithms. A computational problem can be viewed as a set of ''instances'' or ''cases'' together with a, possibly empty, set of ''solutions'' for every instance/case. The question then is, whether there exists an algorithm that maps instances to solutions. For example, in the factoring problem, the instances are the integers ''n'', and solutions are prime numbers ''p'' that are the nontrivial prime factors of ''n''. An example of a computational problem without a solution is the Halting problem. Computational problems are one of the main objects of study in theoretical computer science. One is often interested not only in mere existence of an algorithm, b ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Motion Planning Configuration Space Curved Valid Path
In physics, motion is when an object changes its position with respect to a reference point in a given time. Motion is mathematically described in terms of displacement, distance, velocity, acceleration, speed, and frame of reference to an observer, measuring the change in position of the body relative to that frame with a change in time. The branch of physics describing the motion of objects without reference to their cause is called ''kinematics'', while the branch studying forces and their effect on motion is called '' dynamics''. If an object is not in motion relative to a given frame of reference, it is said to be ''at rest'', ''motionless'', ''immobile'', '' stationary'', or to have a constant or time-invariant position with reference to its surroundings. Modern physics holds that, as there is no absolute frame of reference, Isaac Newton's concept of '' absolute motion'' cannot be determined. Everything in the universe can be considered to be in motion. Motion applies to ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Incremental Heuristic Search
Incremental heuristic search algorithms combine both incremental and heuristic search to speed up searches of sequences of similar search problems, which is important in domains that are only incompletely known or change dynamically. Incremental search has been studied at least since the late 1960s. Incremental search algorithms reuse information from previous searches to speed up the current search and solve search problems potentially much faster than solving them repeatedly from scratch. Similarly, heuristic search has also been studied at least since the late 1960s. Heuristic search algorithms, often based on A*, use heuristic knowledge in the form of approximations of the goal distances to focus the search and solve search problems potentially much faster than uninformed search algorithms. The resulting search problems, sometimes called dynamic path planning problems, are graph search problems where paths have to be found repeatedly because the topology of the graph, its edge ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Any-angle Path Planning
Any-angle path planning algorithms are pathfinding algorithms that search for a Euclidean shortest path between two points on a grid map while allowing the turns in the path to have any angle. The result is a path that cuts directly through open areas and has relatively few turns. More traditional pathfinding algorithms such as A* either lack in performance or produce jagged, indirect paths. Background Real-world and many game maps have open areas that are most efficiently traversed in a direct way. Traditional algorithms are ill-equipped to solve these problems: * A* with an 8-connected discrete grid graph (2D; 26 for the 3D triple cubic graph) is very fast, but only looks at paths in 45-degree increments. This behavior gives on average 8% extra path length in 2D and 13% in 3D. A quick post-smoothing step can be used to straighten (thus shorten) the jagged output, but the result is not guaranteed to be optimal as it does not look at all the possible paths. (More specifically, ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
A* Search Algorithm
A* (pronounced "A-star") is a graph traversal and pathfinding algorithm that is used in many fields of computer science due to its completeness, optimality, and optimal efficiency. Given a weighted graph, a source Vertex (graph theory), node and a goal node, the algorithm finds the Shortest path problem, shortest path (with respect to the given weights) from source to goal. One major practical drawback is its O(b^d) space complexity where is the depth of the shallowest solution (the length of the shortest path from the source node to any given goal node) and is the branching factor (the maximum number of successors for any given state), as it stores all generated nodes in memory. Thus, in practical travel-routing systems, it is generally outperformed by algorithms that can pre-process the graph to attain better performance, as well as by memory-bounded approaches; however, A* is still the best solution in many cases. Peter E. Hart, Peter Hart, Nils Nilsson (researcher), Nils ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Search Algorithms
In computer science, a search algorithm is an algorithm designed to solve a search problem. Search algorithms work to retrieve information stored within particular data structure, or calculated in the search space of a problem domain, with either discrete or continuous values. Although search engines use search algorithms, they belong to the study of information retrieval, not algorithmics. The appropriate search algorithm to use often depends on the data structure being searched, and may also include prior knowledge about the data. Search algorithms can be made faster or more efficient by specially constructed database structures, such as search trees, hash maps, and database indexes. Search algorithms can be classified based on their mechanism of searching into three types of algorithms: linear, binary, and hashing. Linear search algorithms check every record for the one associated with a target key in a linear fashion. Binary, or half-interval, searches repeatedly target ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Legged Robot
Legged robots are a type of mobile robot which use articulated limbs, such as leg mechanisms, to provide locomotion. They are more versatile than wheeled robots and can traverse many different terrains, though these advantages require increased complexity and power consumption. Legged robots often imitate legged animals, such as humans or insects, in an example of biomimicry. Gait and support pattern Legged robots, or walking machines, are designed for locomotion on rough terrain and require control of leg actuators to maintain balance, sensors to determine foot placement and planning algorithms to determine the direction and speed of movement. The periodic contact of the legs of the robot with the ground is called the gait of the walker. In order to maintain locomotion the center of gravity of the walker must be supported either statically or dynamically. Static support is provided by ensuring the center of gravity is within the support pattern formed by legs in contact ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Computational Complexity Theory
In theoretical computer science and mathematics, computational complexity theory focuses on classifying computational problems according to their resource usage, and explores the relationships between these classifications. A computational problem is a task solved by a computer. A computation problem is solvable by mechanical application of mathematical steps, such as an algorithm. A problem is regarded as inherently difficult if its solution requires significant resources, whatever the algorithm used. The theory formalizes this intuition, by introducing mathematical models of computation to study these problems and quantifying their computational complexity, i.e., the amount of resources needed to solve them, such as time and storage. Other measures of complexity are also used, such as the amount of communication (used in communication complexity), the number of logic gate, gates in a circuit (used in circuit complexity) and the number of processors (used in parallel computing). O ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Collision Detection
Collision detection is the computational problem of detecting an intersection of two or more objects in virtual space. More precisely, it deals with the questions of ''if'', ''when'' and ''where'' two or more objects intersect. Collision detection is a classic problem of computational geometry with applications in computer graphics, physical simulation, video games, robotics (including autonomous driving) and computational physics. Collision detection algorithms can be divided into operating on 2D or 3D spatial objects. Overview Collision detection is closely linked to calculating the distance between objects, as two objects (or more) intersect when the distance between them reaches zero or even becomes negative. Negative distance indicates that one object has penetrated another. Performing collision detection requires more context than just the distance between the objects. Accurately identifying the points of contact on both objects' surfaces is also essential for the co ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Forward Kinematics
In robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the Robot end effector, end-effector from specified values for the Kinematic pair, joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics. Kinematics equations The kinematics equations for the series chain of a robot are obtained using a rigid transformation [Z] to characterize the relative movement allowed at each Joint (mechanics), joint and separate rigid transformation [X] to define the dimensions of each link. The result is a sequence of rigid transformations alternating joint and link transformations from the base of the chain to its end link, which is equated to the specified position for the end link, :[T] = [Z_1][X_1][Z_2][X_2]\ldots[X_][Z_n],\! where [ ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Euler Angles
The Euler angles are three angles introduced by Leonhard Euler to describe the Orientation (geometry), orientation of a rigid body with respect to a fixed coordinate system.Novi Commentarii academiae scientiarum Petropolitanae 20, 1776, pp. 189–207 (E478PDF/ref> They can also represent the orientation of a mobile frame of reference in physics or the orientation of a general Basis (linear algebra), basis in three dimensional linear algebra. Classic Euler angles usually take the inclination angle in such a way that zero degrees represent the vertical orientation. Alternative forms were later introduced by Peter Guthrie Tait and George H. Bryan intended for use in aeronautics and engineering in which zero degrees represent the horizontal position. Chained rotations equivalence Euler angles can be defined by elemental geometry or by composition of rotations (i.e. chained rotations). The geometrical definition demonstrates that three consecutive ''elemental rotations'' (rotatio ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Special Orthogonal Group
In mathematics, the orthogonal group in dimension , denoted , is the group of distance-preserving transformations of a Euclidean space of dimension that preserve a fixed point, where the group operation is given by composing transformations. The orthogonal group is sometimes called the general orthogonal group, by analogy with the general linear group. Equivalently, it is the group of orthogonal matrices, where the group operation is given by matrix multiplication (an orthogonal matrix is a real matrix whose inverse equals its transpose). The orthogonal group is an algebraic group and a Lie group. It is compact. The orthogonal group in dimension has two connected components. The one that contains the identity element is a normal subgroup, called the special orthogonal group, and denoted . It consists of all orthogonal matrices of determinant 1. This group is also called the rotation group, generalizing the fact that in dimensions 2 and 3, its elements are the usual rot ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
