Motion planning for skateboard-like robots in dynamic environments

摘要

motion planning is a branch of computer science concentrating upon the computation ofnpaths for robots or digital actors through complex spaces subject to various constraints.nExamples of motion planning include path computation for multilimbed robots in automobilenassembly plants, path computation for climbing or walking robots, or even dosagenoptimization for radiosurgery. In this article, I present new techniques that better compute paths fornvehicular robots, specifically those that move through terrain that affects the dynamics of vehiclenmotion to a large degree. An excellent illustration of motion planning is a skateboarder movingnthrough a series of ramps in order to reach a goal location. In this situation, reasoning is essential—na skateboarder may need to take a circuituous route and take ramps in order to reach a target location.