標題: A potential-based path planning of articulated robots with 2-DOF joints
作者: Chuang, JH
Lin, CC
Kao, JH
Hsieh, CT
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: 2005
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 very 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 the algorithm for 3-DOF joints, in terms of collision avoidance and computation efficiency.
URI: http://hdl.handle.net/11536/17742
ISBN: 0-7803-8914-X
ISSN: 1050-4729
期刊: 2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4
起始頁: 1815
結束頁: 1820
Appears in Collections:Conferences Paper