Title :
Path planning using a Jacobian-based freespace generation algorithm
Author :
Paden, B. ; Mees, A. ; Fisher, Matt
Author_Institution :
Dept. of Mech. Eng., California Univ., Santa Barbara, CA, USA
Abstract :
A simple and efficient algorithm is developed to generate a 2"-tree (generalized quad-tree) representation of the free configuration space for a manipulator moving in a workspace with obstacles. The algorithm is based on the existence of uniform bounds on the Jacobians relating the differential motions of points on the manipulator to differential joint motions. This representation can be searched to generate a collision-free path and optimized with dynamic constraints to produce an executable trajectory.
Keywords :
position control; robots; 2"-tree; Jacobian-based freespace generation algorithm; collision-free path; dynamic constraints; free configuration space; generalized quad-tree; path planning; position control; robots; Actuators; Jacobian matrices; Kinematics; Manipulator dynamics; Mathematics; Mechanical engineering; Microelectronics; Path planning; Robots; Trajectory;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100225
