Practical Motion Planning in Robotics: Current Approaches and Future Directions

Designed to bridge the gap between research and industry, Practical Motion Planning in Robotics brings theoretical advances to bear on real-world applications. Capitalizing on recent progress, this comprehensive study emphasizes the practical aspects of techniques for collision detection, obstacle avoidance, path planning and manipulation planning. The broad approach spans both model- and sensor-based motion planning, collision detection and geometric complexity, and future directions. Features include: Review of state-of-the-art techniques and coverage of the main issues to be considered in the development of motion planners for use in real applicationsFocus on gross motion planning for articulated arms enabling robots to perform non-contact tasks with relatively high tolerances plus brief consideration of mobile robotsThe use of efficient algorithms to tackle incremental changes in the environmentIllustration of robot motion planning applications in virtual prototyping and the shipbuilding industryDemonstration of efficient path planners combining both local and global planning approaches in conjunction with efficient techniques for collision detection and distance computationsInternational contributions from academia and industryCombining theory and practice, this timely book will appeal to academic researchers and practising engineers in the fields of robotic systems, mechatronics and computer science.