Obstacle accommodation motion planning
نویسندگان
چکیده
A new robot path planning methodology called obstacle accommodation has been introduced for robots in cluttered environments. This methodology does not attempt to avoid physical contact between a robot and obstacles. Instead, it controls the contact to prevent damage to the robot. Obstacle accommodation represents a new robotic paradigm in which obstacles can contact robots at unspecified positions, i.e., a contact point can be at any point on any link. Obstacle accommodation requires analysis in kinematics, motion planning, dynamics, and control. This paper deals with the development of the kinematic constraints and with motion planning under these constraints. We begin by providing a general formulation of the motion constraints due to contact with obstacles. Next, a new inverse kinematics is presented that provides joint motion for robots under contact constraints. Finally, the new motion planning algorithm for robot motion in a cluttered environment is provided. The motion planning algorithm is verified by two examples, one on a linkage robot and the other on a mobile robot.
منابع مشابه
Direct Optimal Motion Planning for Omni-directional Mobile Robots under Limitation on Velocity and Acceleration
This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limitation on velocity and acceleration of robot is considered and collision with any obstacle in the...
متن کاملCentralized Path Planning for Multi-aircraft in the Presence of Static and Moving Obstacles
This article proposes a new approach for centralized path planning of multiple aircraft in presence of the obstacle-laden environment under low flying rules. The problem considers as a unified nonlinear constraint optimization problem. The minimum time and control investigate as the cost functions and the maximum velocity and power consider as the constraints. The pseudospectral method applies ...
متن کاملMobile Robot Online Motion Planning Using Generalized Voronoi Graphs
In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...
متن کاملA Destination Driven Navigator with Dynamic Obstacle Motion Prediction
A real time navigating system, called Destination Driven Navigator, is developed. This paper presents a new obstacle representation method named Cross-Line, a new concept “work space” to reduce the robot’s search space and the environment storage cost, an Adapted Regression Model to predict the dynamic obstacles’ motion, and the Multi-State Path Repair rules to quickly translate an infeasible p...
متن کاملReal-time Sensor-based Obstacle Modeling in Configuration Space for Manipulator Motion Planning
This paper presents an approach to sensor-based obstacle modeling in a configuration space for manipulator motion planning in unknown environments. In order to achieve this objective, an efficient algorithm is used to fast map obstacles based on defined fundamental obstacles in the workspace and their images in the configuration space. A manipulator is assumed to be equipped with “distance” sen...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- IEEE Trans. Robotics and Automation
دوره 11 شماره
صفحات -
تاریخ انتشار 1995