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Título: Qualitative spatial reasoning with applications to planar mechanism analysis and motion planning
Autores: Liu, Jiming
Fecha: 1994
Publicador: McGill University - MCGILL
Fuente:
Tipo: Electronic Thesis or Dissertation
Tema: Engineering, Electronics and Electrical.
Descripción: This thesis presents a framework for qualitatively representing and reasoning about spatial configurations in the two-dimensional case. The framework contains interval/region based formalisms for describing distances, angles, and locations. These representations lead to the formulation of inference rules, as well as search-heuristics which enable the derivation of spatial relationships and paths among objects. In order to generate approximate quantitative configurations, local search strategies such as simulated annealing are applied within the configuration space deduced from the qualitative spatial description.
The qualitative framework can be used in two principal ways: first, to formulate solutions to spatial configuration problems where exact geometric knowledge is not available, and second, to provide guidance for the application of quantitative configuration analysis and planning methods. These have direct relevance to, and implications for, computer-aided mechanism design and robotics. In this thesis, two applications of this framework are demonstrated.
The first application is concerned with inferring the instantaneous configurations, coupler curves, and relative velocities in one-degree-of-freedom planar linkages, given their qualitative link lengths. Based on the qualitative framework, algorithms have been developed and implemented to tackle each aspect of the linkage problem. The simulation results show that the coupler curves derived from the proposed algorithms can correctly capture the significant topological and geometric properties of the actual curves.
The second application deals with planning collision-free paths for open-chain planar mechanisms moving among static obstacles. Using the qualitative framework, a quantitative path can be composed by generating and connecting a sequence of path segments based on a global route found in the qualitative spatial planning. This approach to path planning is illustrated in two case studies; one involves a single mobile robot whereas the other considers a serially coupled manipulator.
Idioma: en