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

Chien Chou Lin*, Chi Chun Pan, Jen-Hui Chuang

*此作品的通信作者

研究成果: Conference article同行評審

4 引文 斯高帕斯(Scopus)

摘要

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 collision-free 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 efficiency.

原文English
頁(從 - 到)3365-3370
頁數6
期刊Proceedings - IEEE International Conference on Robotics and Automation
3
DOIs
出版狀態Published - 9 12月 2003
事件2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan
持續時間: 14 9月 200319 9月 2003

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