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  2. Motion planning - Wikipedia

    en.wikipedia.org/wiki/Motion_planning

    Any-angle path planning approaches find shorter paths by propagating information along grid edges (to search fast) without constraining their paths to grid edges (to find short paths). Grid-based approaches often need to search repeatedly, for example, when the knowledge of the robot about the configuration space changes or the configuration ...

  3. Real-time path planning - Wikipedia

    en.wikipedia.org/wiki/Real-time_path_planning

    Real-Time Path Planning is a term used in robotics that consists of motion planning methods that can adapt to real time changes in the environment. This includes everything from primitive algorithms that stop a robot when it approaches an obstacle to more complex algorithms that continuously takes in information from the surroundings and creates a plan to avoid obstacles.

  4. Any-angle path planning - Wikipedia

    en.wikipedia.org/wiki/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. [ 1 ]

  5. Probabilistic roadmap - Wikipedia

    en.wikipedia.org/wiki/Probabilistic_roadmap

    The probabilistic roadmap [1] 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. An example of a probabilistic random map algorithm exploring feasible paths around a number of polygonal obstacles

  6. Multi-agent pathfinding - Wikipedia

    en.wikipedia.org/wiki/Multi-agent_pathfinding

    When planning, agents have to avoid collisions with paths of other agents with a higher priority that have already computed their plans. Finding a solution for the MAPF problem in such setting corresponds to the shortest path problem in a time-expansion graph. [9] A time-expansion graph is a graph that takes into account the passing of time.

  7. Contraction hierarchies - Wikipedia

    en.wikipedia.org/wiki/Contraction_hierarchies

    A path from to is a sequence of edges (road sections); the shortest path is the one with the minimal sum of edge weights among all possible paths. The shortest path in a graph can be computed using Dijkstra's algorithm but, given that road networks consist of tens of millions of vertices, this is impractical. [ 1 ]

  8. Wavefront expansion algorithm - Wikipedia

    en.wikipedia.org/wiki/Wavefront_expansion_algorithm

    The plan is a trajectory from start to goal and describes, for each moment in time and each position in the map, the robot's next action. Path planning is solved by many different algorithms, which can be categorised as sampling-based and heuristics-based approaches. Before path planning, the map is discretized into a grid. The vector ...

  9. A* search algorithm - Wikipedia

    en.wikipedia.org/wiki/A*_search_algorithm

    A* was invented by researchers working on Shakey the Robot's path planning. A* was created as part of the Shakey project, which had the aim of building a mobile robot that could plan its own actions. Nils Nilsson originally proposed using the Graph Traverser algorithm [5] for Shakey's path planning. [6]