TY - JOUR
T1 - Potential-based path planning for robot manipulators in 3-D workspace
AU - Lin, Chien Chou
AU - Chuang, Jen-Hui
PY - 2003/12/9
Y1 - 2003/12/9
N2 - A novel collision avoidance algorithm is proposed to solve the path-planning problem of a high DoF robot manipulators in 3-D workspace. The algorithm is based on a generalized potential field model of 3-D workspace. The approach computes, similar to that done in electrostatics, repulsive force and torque between manipulator and obstacles using the workspace information directly. Using these force and torque, a collision-free path of a manipulator can be obtained by locally adjusting the manipulator configuration for minimum potential. The proposed approach is efficient since these potential gradients are analytically tractable. Simulation results show that the proposed algorithm works well, in terms of computation time and collision avoidance, for manipulators up to 6 links.
AB - A novel collision avoidance algorithm is proposed to solve the path-planning problem of a high DoF robot manipulators in 3-D workspace. The algorithm is based on a generalized potential field model of 3-D workspace. The approach computes, similar to that done in electrostatics, repulsive force and torque between manipulator and obstacles using the workspace information directly. Using these force and torque, a collision-free path of a manipulator can be obtained by locally adjusting the manipulator configuration for minimum potential. The proposed approach is efficient since these potential gradients are analytically tractable. Simulation results show that the proposed algorithm works well, in terms of computation time and collision avoidance, for manipulators up to 6 links.
UR - http://www.scopus.com/inward/record.url?scp=0344464911&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2003.1242108
DO - 10.1109/ROBOT.2003.1242108
M3 - Conference article
AN - SCOPUS:0344464911
SN - 1050-4729
VL - 3
SP - 3353
EP - 3358
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2003 IEEE International Conference on Robotics and Automation
Y2 - 14 September 2003 through 19 September 2003
ER -