Bendable Cuboid Robot Path Planning with Collision Avoidance using Generalized Lp Norms

نویسندگان

  • Nak-seung Patrick Hyun
  • Patricio A. Vela
  • Erik I. Verriest
چکیده

Optimal path planning problems for rigid and deformable (bendable) cuboid robots are considered by providing an analytic safety constraint using generalized Lp norms. For regular cuboid robots, level sets of weighted Lp norms generate implicit approximations of their surfaces. For bendable cuboid robots a weighted Lp norm in polar coordinates implicitly approximates the surface boundary through a specified level set. Obstacle volumes, in the environment to navigate within, are presumed to be approximately described as sub-level sets of weighted Lp norms. Using these approximate surface models, the optimal safe path planning problem is reformulated as a two stage optimization problem, where the safety constraint depends on a point on the robot which is closest to the obstacle in the obstacle’s distance metric. A set of equality and inequality constraints are derived to replace the closest point problem, which is then defines additional analytic constraints on the original path planning problem. Combining all the analytic constraints with logical AND operations leads to a general optimal safe path planning problem. Numerically solving the problem involve conversion to a nonlinear programing problem. Simulations for rigid and bendable cuboid robot verify the proposed method.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Obstacle Avoidance of mobile robot using PSO based Neuro Fuzzy Technique

Navigation and obstacle avoidance are very important issues for the successful use of an autonomous mobile robot. To allow the robot to move between its current and final configurations without any collision within the surrounding environment, motion planning needs much treatment. Thus to generate collision free path it should have proper motion planning as well as obstacle avoidance scheme. Th...

متن کامل

A Path Planning Algorithm using Generalized Potential Model for Hyper- Redundant Robots with 2-DOF Joints

This paper proposes a potential‐based path planning algorithm of articulated robots with 2‐DOF joints. The algorithm is an extension of a previous algorithm developed for 3‐DOF joints. While 3‐DOF joints result in a more straightforward potential minimization algorithm, 2‐DOF joints are obviously more practical for active operations. The proposed approach computes r...

متن کامل

Comparative Study of Potential Field and Sampling Algorithms for Manipulator Obstacle Avoidance

Industrial robots should be implemented with proper path planning to generate a trajectory which ensures obstacle avoidance and collision free movement. Selection of a path planning techniques need to be done only after detailed studies. This paper deals with the study and implementation of a path planning technique using potential fi eld method for a 2R robot in a given workspace with obstacle...

متن کامل

Designing Path for Robot Arm Extensions Series with the Aim of Avoiding Obstruction with Recurring Neural Network

In this paper, recurrent neural network is used for path planning in the joint space of the robot with obstacle in the workspace of the robot. To design the neural network, first a performance index has been defined as sum of square of error tracking of final executor. Then, obstacle avoidance scheme is presented based on its space coordinate and its minimum distance between the obstacle and ea...

متن کامل

Path Planning for Deformable Robots in Complex Environments

Just a test. We present an algorithm for path planning for a flexible robot in complex environments. Our algorithm computes a collision free path by taking into account geometric and physical constraints, including obstacle avoidance, nonpenetration constraint, volume preservation, surface tension, and energy minimization. We describe a new algorithm for collision detection between a deformable...

متن کامل

ذخیره 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 نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:
  • CoRR

دوره abs/1712.06021  شماره 

صفحات  -

تاریخ انتشار 2017