Browsing by Author "Chan, Ting-Wei"

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A CONCURRENT PLANNING ALGORITHM FOR DUAL-ARM SYSTEMS
(2007)
Chuang, Jen-Hui
;
Chan, Ting-Wei
;
Lin, Chien-Chou
;
資訊工程學系
;
Department of Computer Science
An algorithm for path planning of object held by multiple manipulators is presented in this paper. The proposed path planning algorithm is composed with two planners: path planner of the object and motion planner of manipulators. Both planners use a generalized potential model to evaluate the repulsion between object/manipulators and obstacles, so as to avoid collision. By adding virtual obstacle planes to roughly divide the workspace into several subspaces, a concurrent approach of path planning is also proposed. With each subspace designated to a manipulator, collisions between manipulators can be avoided. Therefore, paths of all. manipulators can be planned at the same time.