Path planning and collision avoidance for robots
نویسندگان
چکیده
منابع مشابه
Path Planning and Collision Avoidance for Robots
An optimal control problem to find the fastest collision-free trajectory of a robot surrounded by obstacles is presented. The collision avoidance is based on linear programming arguments and expressed as state constraints. The optimal control problem is solved with a sequential programming method. In order to decrease the number of unknowns and constraints a backface culling active set strategy...
متن کاملPath Planning and Collision Avoidance for
We have developed a planner for redundant manipula-tors that is fast, eeective and versatile, based on the idea of treating each link of a rigid-linked robot as if it were slightly exible and under the innuence of a potential eld. We describe the extensions to the basic method that allow it to plan paths for manipulators with revolute joints (linear and spherical joints having been covered in a...
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The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for articulated robots. First, the configuration of a robot is designed using a set of robot joint angles derived from robot inverse kinematics. The joint space, which is made of a joint angle set, forms a Configuration space (Cspace). Obstacles in a robot work-cell are transformed into Cobstacles (obstacles...
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We have developed a planner for redundant manipulators that is fast, eeective and versatile, based on the idea of treating each link of a rigid-linked robot as if it were slightly exible and under the innuenceof a potentialeld. We justify the method by exploringsome simple examples, and brieey describe the extensions to the basic method that allow it to plan paths for manipulators with revolute...
متن کاملPath Planning for Automotive Collision Avoidance Based on Elastic Bands
Collision-free path planning will be an essential feature of future automotive collision avoidance systems (CAS). One of the most promising approaches uses so-called elastic bands in generating emergency trajectories. For the automotive application of this approach, moving obstacles and the borders of the road are modeled by virtual potential fields. To find solutions even in complex driving si...
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ژورنال
عنوان ژورنال: Numerical Algebra, Control and Optimization
سال: 2012
ISSN: 2155-3289
DOI: 10.3934/naco.2012.2.437