Here are 100 chapter titles on robotic path planning, progressing from fundamental concepts to advanced techniques:
I. Foundations of Path Planning (20 Chapters)
- Introduction to Robotic Path Planning
- Configuration Space: Representing Robot Motion
- Workspace vs. Configuration Space
- Obstacle Representation in Configuration Space
- Types of Path Planning Problems: Point-to-Point, Multi-Goal, Coverage
- Path Planning Metrics: Optimality, Completeness, Efficiency
- Basic Search Algorithms: Breadth-First Search, Depth-First Search
- Dijkstra's Algorithm: Finding Shortest Paths
- A* Search: Heuristics and Optimality
- Grid-Based Path Planning
- Introduction to Sampling-Based Planning
- Random Sampling and Configuration Space Exploration
- Probabilistic Roadmaps (PRMs): Building a Roadmap
- Rapidly-exploring Random Trees (RRTs): Growing a Tree
- Basic Path Planning for Mobile Robots
- Path Planning for Manipulators: Joint Space vs. Task Space
- Introduction to Kinematics and Inverse Kinematics
- Forward and Inverse Kinematics in Path Planning
- Basic Trajectory Generation: Linear and Polynomial Interpolation
- Introduction to Robot Control and Motion Execution
II. Intermediate Path Planning Techniques (30 Chapters)
- Advanced Graph Search Algorithms: Weighted A*, Jump Point Search
- Hierarchical Path Planning: Multi-Resolution Grids, Quadtrees, Octrees
- Multi-Goal Path Planning: Finding Optimal Paths to Multiple Destinations
- Path Planning with Kinematic Constraints: Nonholonomic Systems
- Planning for Car-like Robots: Reeds-Shepp and Dubins Curves
- Sampling-Based Planning for High-Dimensional Configuration Spaces
- Advanced PRM Techniques: Visibility-Based PRMs, Gaussian Sampling
- Advanced RRT Techniques: RRT*, Informed RRT*, RRT#-Smart
- Path Smoothing and Optimization: Splines, Gradient Descent
- Trajectory Optimization: Time-Optimal, Energy-Optimal, Jerk-Limited
- Introduction to Potential Fields for Path Planning
- Artificial Potential Functions and their Limitations
- Navigation Functions and Global Planning
- Path Planning in Dynamic Environments: Time-Varying Obstacles
- Velocity Obstacles and Collision Avoidance
- Predictive Collision Avoidance
- Multi-Robot Path Planning: Coordination and Conflict Resolution
- Decentralized Multi-Robot Planning
- Task Allocation and Path Planning for Multi-Agent Systems
- Path Planning under Uncertainty: Probabilistic Planning
- Belief Space Planning
- Partially Observable Markov Decision Processes (POMDPs) for Robot Motion
- Introduction to Machine Learning for Path Planning
- Learning-Based Path Planning
- Reinforcement Learning for Robot Navigation
- Combining Sampling-Based Planning with Machine Learning
- Path Planning in Cluttered Environments
- Planning for Manipulation Tasks: Grasping and Object Manipulation
- Constraint-Based Path Planning
- Case Studies: Applications of Path Planning Algorithms
III. Advanced Path Planning and Specialized Topics (50 Chapters)
- Advanced Trajectory Optimization Techniques: Direct and Indirect Methods
- Optimal Control for Robot Motion Planning
- Nonlinear Programming for Trajectory Optimization
- Stochastic Path Planning: Markov Decision Processes (MDPs)
- Robust Path Planning: Dealing with Uncertainty and Noise
- Path Planning with Temporal Constraints: Time Windows and Sequencing
- Planning for Human-Robot Collaboration: Shared Workspace Planning
- Path Planning for Flexible Manipulators
- Planning for Underactuated Robots
- Non-Smooth Optimization for Path Planning
- Geometric Path Planning: Cell Decomposition, Visibility Graphs
- Path Planning in Continuous Configuration Spaces
- Planning with Complex Kinematic Constraints
- Path Planning for Aerial Robots and Drones
- Path Planning for Underwater Robots
- Path Planning for Space Robots
- Path Planning for Medical Robots
- Path Planning for Industrial Robots
- Path Planning for Agricultural Robots
- Path Planning for Social Robots
- Path Planning for Humanoid Robots
- Path Planning for Soft Robots
- Path Planning for Micro/Nano Robots
- Path Planning for Swarms of Robots
- Path Planning in Virtual Environments
- Path Planning for Augmented Reality Applications
- Path Planning for Virtual Reality Applications
- Real-time Path Planning: Fast Replanning and Adaptation
- Hardware Acceleration for Path Planning Algorithms (GPUs, FPGAs)
- Parallel Computing for Path Planning
- Distributed Path Planning: Cloud Robotics
- Path Planning Libraries and Software Tools (e.g., OMPL, MoveIt!)
- Benchmarking and Evaluating Path Planning Algorithms
- Performance Analysis and Tuning of Path Planning Systems
- Debugging and Troubleshooting Path Planning Problems
- Software Engineering for Path Planning
- Version Control for Path Planning Projects
- Collaborative Development of Path Planning Systems
- Open Source Path Planning Projects and Contributions
- Path Planning Education and Training
- Path Planning Research and Development
- Future Trends in Path Planning
- Emerging Technologies in Path Planning
- Ethical Considerations in Path Planning
- Building a Complete Path Planning System
- Integrating Path Planning with Robot Control
- Deploying Path Planning Algorithms to Real-World Robots
- Maintaining and Upgrading Path Planning Systems
- Resources and Communities for Path Planning
- Glossary of Path Planning Terms