🎓Module 7: Motion Path Analysis and Planning
1. Introduction to Motion Path Planning
• Motion path planning refers to determining a feasible trajectory for a robot to move from
a start to a goal state without colliding with obstacles.
• Critical in mobile robots, robotic arms, autonomous vehicles, and drones.
2. Path Planning Fundamentals
• Linear Planning:
o Involves straight-line trajectories.
o Simple and computationally efficient.
o Not ideal in environments with many obstacles.
• Nonlinear Planning:
o Considers curvature, dynamic constraints, and environmental complexity.
o Requires advanced algorithms like A*, D*, RRT (Rapidly-exploring Random
Tree), and PRM (Probabilistic Roadmap Method).
3. Trajectory Planning
• Concerned with how to follow a path over time.
• Goals:
o Smoothness
o Minimization of time/energy
o Compliance with dynamic constraints
Common Techniques:
• Polynomial Trajectories: Often cubic or quintic; used to ensure smooth transitions in
position, velocity, and acceleration.
• Splines:
o Piecewise polynomials (e.g., B-splines, Bézier curves).
o Offer high flexibility and smoothness in motion generation.
• Time-scaling functions:
o Modify trajectory execution speed while preserving geometric path.
4. Obstacle Avoidance
• Essential to ensure safe robot motion.
• Static Obstacles: Handled with configuration space planning.
• Dynamic Obstacles: Require predictive or reactive strategies.
• Common Techniques:
o Potential fields
o Velocity Obstacles (VO)
o Dynamic Window Approach (DWA)
o Artificial Intelligence (AI) and machine learning-based adaptive planners
5. Visualization and Simulation Tools
• ROS (Robot Operating System):
o Middleware for robotics development.
o Provides tools like rviz for visualization and move_base for path planning.
• Gazebo:
o 3D dynamic simulator.
o Integrates with ROS for simulating realistic environments.
• MATLAB/Simulink, V-REP, and Webots also used in research and academia.
6. Practical Applications
• Autonomous navigation in warehouses.
• Surgical robotic tool path generation.
• Multi-robot coordination and swarm robotics.
• Drone flight path optimization in urban environments.
✅ Structured Questions with Answers (10)
1. Define motion path planning.
Answer: Motion path planning is the process of determining a sequence of feasible
configurations or movements for a robot from an initial to a goal state while avoiding obstacles.
2. Differentiate between linear and nonlinear path planning.
Answer: Linear path planning generates straight-line or simple geometric paths, suitable for
simple environments, whereas nonlinear path planning handles complex environments and
accounts for constraints like curvature and robot dynamics.
3. What are splines, and why are they used in trajectory planning?
Answer: Splines are piecewise polynomial curves used to generate smooth, continuous
trajectories. They are preferred for their flexibility and ability to represent complex paths with
continuity in velocity and acceleration.
4. List three common trajectory planning techniques.
Answer:
1. Polynomial trajectories (e.g., cubic, quintic)
2. Spline-based trajectories (e.g., B-splines)
3. Time-scaling functions
5. Explain the difference between path planning and trajectory planning.
Answer: Path planning focuses on the geometric route a robot should follow, while trajectory
planning determines how fast and in what manner the robot should traverse that path over time.
6. Name two motion planning algorithms suitable for high-dimensional spaces.
Answer:
1. Rapidly-exploring Random Trees (RRT)
2. Probabilistic Roadmap Method (PRM)
7. What is the role of configuration space (C-space) in motion planning?
Answer: C-space represents all possible positions and orientations (configurations) of a robot,
including constraints due to obstacles, and is fundamental for planning valid, collision-free
motions.
8. How do potential field methods aid in obstacle avoidance?
Answer: Potential field methods simulate attractive forces toward goals and repulsive forces
from obstacles, guiding the robot along a collision-free path by following the resultant vector
field.
9. Identify one advantage and one limitation of using ROS for motion planning.
Answer:
Advantage: Modular and extensive libraries for motion planning and control.
Limitation: Steep learning curve and potential complexity in system integration.
10. Why is simulation important in motion path planning?
Answer: Simulation allows for safe testing and validation of motion paths in virtual
environments, enabling optimization and troubleshooting before real-world deployment.
📝 Essay Questions with Sample Answers
Essay 1:
Question: Discuss the role of trajectory planning in robotic manipulation and highlight how
splines and polynomials improve the performance of robotic systems.
Sample Answer:
Trajectory planning is critical in robotic manipulation as it determines the motion profile a robot
must follow to reach a target while respecting dynamic and kinematic constraints. Using splines
and polynomials enhances the performance of robotic systems by ensuring smooth transitions in
motion, minimizing jerk, and reducing mechanical stress. Splines, such as B-splines or Bézier
curves, offer flexibility and continuity in complex tasks like welding or painting, while
polynomial trajectories are computationally efficient and ideal for real-time control. These
mathematical tools allow precise control of velocity and acceleration, essential for delicate
operations and coordinated multi-joint movements.
Essay 2:
Question: Compare and contrast Rapidly-exploring Random Trees (RRT) and Probabilistic
Roadmap Method (PRM) for motion path planning. When would you use each?
Sample Answer:
RRT and PRM are both sampling-based path planning algorithms suitable for high-dimensional
spaces. RRT incrementally builds a tree by randomly exploring the configuration space, making
it ideal for single-query scenarios and dynamic environments. In contrast, PRM constructs a
roadmap by sampling nodes and connecting them into a graph, suitable for multi-query
applications in static environments. RRT is preferred when quick, feasible solutions are needed
on-the-fly, while PRM is beneficial when the environment remains constant, allowing the reuse
of precomputed paths. Each algorithm offers a trade-off between exploration, computation time,
and adaptability.
Essay 3:
Question: Evaluate the importance of simulation environments like ROS and Gazebo in the
development of robotic motion planning systems.
Sample Answer:
Simulation environments such as ROS and Gazebo are pivotal in the design, testing, and
validation of robotic motion planning systems. They provide realistic physics engines and sensor
models that help developers assess performance under diverse conditions. ROS facilitates
modular programming and integration of planning algorithms like MoveIt!, while Gazebo
enables visualization of motion paths and real-time interaction with dynamic obstacles. These
tools reduce development costs, enhance safety, and accelerate innovation by enabling virtual
prototyping before physical deployment. Moreover, they support repeatability and scalability,
crucial in academic research and industrial applications alike.
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