Sciweavers

Share
ICRA
2003
IEEE

A novel potential-based path planning of 3-D articulated robots with moving bases

10 years 9 months ago
A novel potential-based path planning of 3-D articulated robots with moving bases
This paper proposes a novel path planning algorithm of 3-D articulated robots with moving bases based on a generalized potential field model. The approach computes, similar to that done in electrostatics, repulsive force and torque between charged objects. A collisionfree path can be obtained by locally adjusting the robot configuration to search for minimum potential configurations using these force and torque. The proposed approach is efficient since these potential gradients are analytically tractable. In order to speedup the computation, a sequential planning strategy is adopted. Simulation results show that the proposed algorithm works well, in terms of collision avoidance and computation time.
Chien-Chou Lin, Chi-Chun Pan, Jen-Hui Chuang
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors Chien-Chou Lin, Chi-Chun Pan, Jen-Hui Chuang
Comments (0)
books