Howie Choset, Carnegie Mellon ( motionplanning )
-
Upload
amelia-skidgel -
Category
Documents
-
view
219 -
download
2
Transcript of Howie Choset, Carnegie Mellon ( motionplanning )
![Page 1: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/1.jpg)
![Page 2: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/2.jpg)
![Page 3: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/3.jpg)
![Page 4: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/4.jpg)
![Page 5: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/5.jpg)
![Page 6: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/6.jpg)
![Page 7: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/7.jpg)
![Page 8: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/8.jpg)
![Page 9: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/9.jpg)
![Page 10: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/10.jpg)
![Page 11: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/11.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 12: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/12.jpg)
![Page 13: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/13.jpg)
J. Qu, Iowa State University (http://msl.cs.uiuc.edu/rrt/
gallery_trailer.html)Wheelchair-Accessible Design Assistant (http://eil.stanford.edu/xpan/motion_planning/index.html)
![Page 14: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/14.jpg)
High-Level Behaviors for Autonomous Animated Characters (http://www.kuffner.org/james/anim/behaviors.php)
![Page 15: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/15.jpg)
Motion Planning for Humanoid Robots (http://www.kuffner.org/james/humanoid/)
Self-Collision Detection (http://www.kuffner.org/james/humanoid/)
![Page 16: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/16.jpg)
Motion Planning for Flexible Needles(http://www.eecs.berkeley.edu/Research/Projects/
2008/105298.html)
X. Tang Parasol Lab, Texas A&M University (http://parasol.tamu.edu/~xinyut/)
![Page 17: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/17.jpg)
![Page 18: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/18.jpg)
![Page 19: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/19.jpg)
![Page 20: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/20.jpg)
![Page 21: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/21.jpg)
![Page 22: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/22.jpg)
![Page 23: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/23.jpg)
![Page 24: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/24.jpg)
![Page 25: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/25.jpg)
(B.V. Adorno, 2008)
![Page 26: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/26.jpg)
(N. Amato, 2004), Course from University of Padova (http://parasol.tamu.edu/people/amato/Courses/padova04/)
![Page 27: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/27.jpg)
![Page 28: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/28.jpg)
![Page 29: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/29.jpg)
![Page 30: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/30.jpg)
![Page 31: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/31.jpg)
![Page 32: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/32.jpg)
![Page 33: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/33.jpg)
![Page 34: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/34.jpg)
Repulsão Atração Resultante
![Page 35: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/35.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 36: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/36.jpg)
2
![Page 37: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/37.jpg)
![Page 38: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/38.jpg)
![Page 39: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/39.jpg)
(H. Safadi, 2007), McGill University, (http://www.cs.mcgill.ca/~hsafad/robotics/index.html)
![Page 40: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/40.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 41: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/41.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
Métodos AlternativosMet. Newton;Met. Gauss-Newton;Levenberg-Marquadt;Simulated Annealing ….
Métodos AlternativosMet. Newton;Met. Gauss-Newton;Levenberg-Marquadt;Simulated Annealing ….
![Page 42: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/42.jpg)
![Page 43: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/43.jpg)
![Page 44: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/44.jpg)
![Page 45: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/45.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 46: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/46.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 47: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/47.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 48: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/48.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 49: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/49.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 50: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/50.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 51: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/51.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 52: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/52.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 53: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/53.jpg)
(N. Amato, 2004), Course from University of Padova (http://parasol.tamu.edu/people/amato/Courses/padova04/)
![Page 54: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/54.jpg)
(N. Amato, 2004), Course from University of Padova (http://parasol.tamu.edu/people/amato/Courses/padova04/)
![Page 55: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/55.jpg)
![Page 56: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/56.jpg)
![Page 57: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/57.jpg)
(N. Amato, 2004), Course from University of Padova, (http://parasol.tamu.edu/people/amato/Courses/padova04/)
![Page 58: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/58.jpg)
Quina dos Obstáculos
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 59: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/59.jpg)
(B.V. Adorno, 2008)
![Page 60: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/60.jpg)
(N. Amato, 2004), Course from University of Padova, (http://parasol.tamu.edu/people/amato/Courses/padova04/)
Ao Redor Obstáculos
![Page 61: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/61.jpg)
qk-1
qk
![Page 62: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/62.jpg)
qk-1
qk
![Page 63: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/63.jpg)
qk-1
qk
![Page 64: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/64.jpg)
(B.V. Adorno, 2008)
![Page 65: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/65.jpg)
(B.V. Adorno, 2008)
![Page 66: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/66.jpg)
![Page 67: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/67.jpg)
(B.V. Adorno, 2008)
Distribuição gaussiana Distribuição polarizada
![Page 68: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/68.jpg)
![Page 69: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/69.jpg)
![Page 70: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/70.jpg)
![Page 71: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/71.jpg)
![Page 72: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/72.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 73: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/73.jpg)
(http://www.kuffner.org/james/plan/algorithm.php)(http://www.kuffner.org/james/plan/examples.php)
(http://msl.cs.uiuc.edu/rrt/about.html)
![Page 74: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/74.jpg)
The RRT Page (http://msl.cs.uiuc.edu/rrt/gallery.html)
![Page 75: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/75.jpg)
The RRT Page (http://msl.cs.uiuc.edu/rrt/gallery.html)
James Kuffner (http://www.kuffner.org/james/plan/algorithm.php)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 76: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/76.jpg)
The RRT Page (http://msl.cs.uiuc.edu/rrt/gallery.html)
James Kuffner (http://www.kuffner.org/james/plan/algorithm.php)
![Page 77: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/77.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 78: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/78.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 79: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/79.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 80: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/80.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 81: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/81.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 82: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/82.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 83: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/83.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 84: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/84.jpg)
Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)
![Page 85: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/85.jpg)
The RRT Page (http://msl.cs.uiuc.edu/rrt/gallery.html)
James Kuffner (http://www.kuffner.org/james/plan/algorithm.php)
![Page 86: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/86.jpg)
![Page 87: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/87.jpg)
![Page 88: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/88.jpg)
Ao que interessa!
![Page 89: Howie Choset, Carnegie Mellon ( motionplanning )](https://reader038.fdocuments.us/reader038/viewer/2022102923/55194c45550346b52d8b4590/html5/thumbnails/89.jpg)
Obrigado!
University of Brasilia – UnB