Outline Path Planning in Partially Known Environments. Finding the Shortest Path to the Goal. Alternative Approaches to Path Planning in Partially Known Environments. Continuous Optimal Path Planning

Outline Review: Optimal Path Planning in Partially Known Environments. Continuous Optimal Path Planning

Probabilistic roadmaps Planning in the real world Planning amidst moving obstacles RRT-based planners Conclusions Applicability of Lazy PRM to Spheres

Course Objective 1 To understand the main types of cognitive robots and their driving requirements Robots That navigate Hallway robots, Field robots, Underwater explorers, stunt air vehicles Engineering and\Immobile robots Intelligent spaces Robust space probes

Review Overview of fields of robotics Concept of vector Space and linear transformation Ax = b linear system of equation mXn n m Column Space(range ), Null space Properties: A(ax+By)=aAX+ BAy Useful linear Transformation in 3-dimensional space

Review Rigid-body rotation -Representations Representat Matrix Linear Invariant Quadratic Invariant Natural Invariant on (Euler Parameters)

Midterm Exam Date&Time:19:00-21:00Oct25.2004 Open book Chapters 2 3 of the text book Note: Regular lecture will take place 18: 00-18: 45 on Oct 25

Review Concept of Screw Motion of a rigid body

Review Fundamentals of multibody dynamics Newton-Euler equation I;=-×工+n+nF =fw+ff Rely on free-body diagram. Constraint force involved Compact form m ti=-WiMti+w+wf

02-01-05一级考试选择题(J) 1、智能机器人不属于计算机在()方面的应用。 A)科学计算 B)计算机辅助制造 C)过程控制 D)人工智能 2、软盘上所存放的数据,在下列()情况下数据可能丢失。 A)通过海关的X射线监视仪 B)放在盒内一年没有使用 C)置于强磁场附近 D)放于气温在-10℃的屋内 3、CPU执行人所指定的最小任务为() A)程序B)指令C)语句D)地址