Optimized-Motion Planning: Theory and Implementation (Design Engineering) - Hardcover

Ahrikencheikh, Cherif; Seireg, Ali A.

9780471019039: Optimized-Motion Planning: Theory and Implementation (Design Engineering)

Hardcover

ISBN 10: 0471019038 ISBN 13: 9780471019039

Publisher: Wiley-Interscience, 1994

From ships and airplanes to robots and space vehicles...it’s all here: how to design the safest and most efficient path trajectories possible. Optimized-Motion Planning is the first handbook to the practical specifics of motion planning that gives design engineers hands-on guidance for solving real motion planning problems in a 3-dimensional space. Complete with a disk of software programs, this unique guide allows users to design, test, and implement possible solutions, useful in a host of contexts, especially tool path planning. The nucleus of the book consists of several motion planning algorithms (with sample programs for the different algorithms on disk), which have been designed to:

Provide optimized solutions for a wide range of problems, including motion planning for multibody systems in 3-dimensional space
Automatically comply with given dynamic constraints
Progress logically from a simple case of a point moving between polygons in 2-dimensional space to the more complex cases of nonpoint objects moving between 3-dimensional obstacles

Optimized-Motion Planning is a practical, complete, and fascinating introduction to designing the safest trajectories for the vehicles that support our way of life as well as a guidebook to one of the new technological imperatives of the coming century.

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From the Publisher:

A unique book offering a general motion planning approach in which both motion optimization and high computational efficiency are considered. Provides insight and techniques to solve motion planning problems in a three-dimensional space. Features a direct approach to implement new methods with in-service machines as well as novel designs. Includes a disk containing software programs that let users design, test and implement systems for a specific application.

From the Inside Flap:

Designing a safe collision-free trajectory for airplanes, ships, space vehicles, robots, and autonomous systems is the essence of motion planning, a practical science that undergirds our mobility, comfort, and quality of life. Once simply a matter of plotting a collision-free path, motion planning now poses such manifold technical challenges as path optimization, designing trajectories of optimized length and travel time, as well as formulating clear mathematical representations of complex 3-dimensional objects and their trajectories. The first handbook to the practical specifics of motion planning, Optimized-Motion Planning offers design engineers methods and insights for solving real motion planning problems in a 3-dimensional space. Complete with a disk of software programs, this unique guide allows users to design, test, and implement possible solutions, useful in a host of contexts, especially tool path planning. Beginning with a brief overview of the general class of problems examined within the book as well as available solution techniques, Part 1 familiarizes the reader with the conceptual threads that underlie each approach. This early discussion also considers the specific applications of each technique as well as its computational efficiency. Part 2 illustrates basic problem-solving methodology by considering the case of a point moving between stationary polygons in a plane. This section features algorithms for data organization and storage, the concepts of passage networks and feasibility charts, as well as the path optimization algorithm. Elaborating on the problematic model described in Part 2, Part 3 develops an algorithm for optimizing the motion of a point between stationary polyhedra in a 3-dimensional space. This algorithm is first applied to the case of nonpoint objects moving between obstacles that can be stationary or moving with known patterns. It’s then used in connection with the extensively investigated problem of motion planning for multilink manipulators. The motion planning algorithms have been created for versatility, ease of use as well as for optimal instructional content. Not only do they provide optimized solutions for a wide variety of problems, including motion planning for multibody systems in 3-dimensional space, they also have been designed to easily accommodate given dynamic constraints. Sample programs for the different algorithms have been included on disk. Ideal for design engineers in controls and robotic systems and engineers involved with motion planning problems, Optimized-Motion Planning is a fascinating and complete introduction to the practical art and science of designing the safest trajectories for the many vehicles that make possible our way of life.

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