Contents

• Title
• Team: ABOUT STUDENTS
• Motivation
• Sample Input-Output
• On-Line Links

title

Team

1) Yashvant Mangal Jain, Roll No. Y2439 E-Mail:yashvant@iitk.ac.in

2) Amit Chaudhry,Roll No.Y2045 E-Mail:amitch@iitk.ac.in

3) Tutor: Mr. T.V.Prabhakar,E-Mail:tvp@cse.iitk.ac.in

Past Works

  2)[Gouznes et al :1985]He in this paper he introduced a method called as interval geometry by him.A C-space is divided in equal number of cells and then checked whether prohibited, safe or mixed.A mixed cell is further subdivided untill minimum cell size is reached.We are using the algorithm for polygonal approximation of C-space.
3)[Amato , Bayazit & Dale et al :1998] They in their paper discussed the randomized path planning approach including the visibility search method.Using these method we can construct a graph of representative path in C-space.This paper discuss node generation and connection stratiegies in a cluttered 3-D workspace.We in our work are usig a TWO-D workspace. But the method of creating node and graph search is almost on similar lines.
 4)The book by Latombe on robot motion planning proved to be very beneficial .He has provided algorithm for C-space generation ,search method that we have used in our project. Randomized Preprocessing of Configuration Space for Fast Path Planning,

  4)some other paper are Related paper: L. Kavraki and J.-C. Latombe, in the Proceedings of the International Conference on Robotics and Automation, San Diego, CA, 2138-2139, 1994. Also : L. Kavraki, P. Svestka, J.-C. Latombe, and M. Overmars,2 Probabilistic Roadmaps for Path Planning in High Dimensional Configuration Spaces, which appeared in the IEEE Transactions on Robotics and Automation.
 
 
 

Sample Input-Output

1)There is a three dof robot which has to go to a target point .In the space there are some obstacles and the robot has to go to the target point without collision for that we plot a road map using PRM(Probablistic Road Map).The

2)The Construction Step

Initially the graph R=(N,E)is empty. Then repetedly,a random free configuration is generated and added to N, For every such new node c, we select a number of nodes from the current N and try to connect c to each of them using a local planner.When ever this planner suucceeds to compute a feasible path between c and a selected node n,the edge (c,N) is added to E.And hence we work to find the actual path and get that memorised.

3)Type of input : the coordinates of vertex of polygon and the lengthof sides.

4)Here the red colour are all obstacles and the green are start or target .The blue line is the path.