ME 780: Robot Motion Planning

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ME 780 - Robot Motion Planning

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Catalog Description

780 Robot Motion Planning. (Crosslisted with Comp Sci, ECE 780.) I; 3 cr. A unified view on geometric, algorithmic, and computational issues of automatic planning of motion for mobile robots and arm manipulators in a complex environment. Planning with complete information--configuration space, connectivity graphs, computational complexity; with partial information-algorithm convergence, topological issues. Effect of system kinematics. Relation between sensing media and algorithm efficiency. P: Math 340 or equiv, & cons inst.

Course Prerequisite(s)

See catalog description above.

Textbook(s) and/or other required material

Lecture notes

Course objectives

The course gives a unified presentation of the mathematical, algorithmic, and implementation issues of the motion planning problem. Major techniques and ideas of motion planning are analyzed, and approaches to implementing those ideas in different domains are discussed.

Topics covered

Models of robot motion planning
Motion planning with complete information (Piano Movers model); configuration space; connectivity graphs; computational complexity of motion planning algorithms
Motion planning with uncertainty; operating in an unknown environment; algorithm convergence; topological issues
The curse of dimensionality: two-dimensional versus three-dimensional motion planning
Effect of system kinematics and geometry on planning strategies; motion planning for highly redundant systems
Sensing and planning: the effect of sensing media (tactile, proximity, vision) on the algorithm structure and efficiency

Copyright 2007 The Board of Regents of the University of Wisconsin System
Date last modified: 04-Aug-2007
Content by: deptinfo@me.engr.wisc.edu
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