Motion planning algorithms for configuration spaces
نویسندگان
چکیده
منابع مشابه
Path planning for planar articulated robots using configuration spaces and compliant motion
This paper presents a path planning algorithm for an articulated planar robot with a static obstacle. The algorithm selects a robot part, finds a path to its goal configuration by systematic configuration space search, drags the entire robot along the path using compliant motion, and repeats the cycle until every robot part reaches its goal. The planner is tested on 11,000 random problems, whic...
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ژورنال
عنوان ژورنال: Boletín de la Sociedad Matemática Mexicana
سال: 2014
ISSN: 1405-213X,2296-4495
DOI: 10.1007/s40590-014-0046-2