標題: A Path Planning Algorithm using Generalized Potential Model for Hyper-Redundant Robots with 2-DOF Joints
作者: Lin, Chien-Chou
Chuang, Jen-Hui
Hsieh, Cheng-Tieng
資訊工程學系
Department of Computer Science
關鍵字: path planning;potential field;articulated robot;motion planning;collision avoidance
公開日期: 1-Jun-2011
摘要: 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 repulsive force and torque between charged objects by using generalized potential model. A collision-free path can be obtained by locally adjusting the robot configuration to search for minimum potential configurations using these force and torque. The optimization of path safeness, through the innovative potential minimization algorithm, makes the proposed approach unique. In order to speedup the computation, a sequential planning strategy is adopted. Simulation results show that the proposed algorithm works well compared with 3-DOF-joint algorithm, in terms of collision avoidance and computation efficiency.
URI: http://hdl.handle.net/11536/14835
ISSN: 1729-8806
期刊: INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
Volume: 8
Issue: 2
起始頁: 49
結束頁: 58
Appears in Collections:Articles