Title :
A tangent based method for robot path planning
Author :
Doyle, A.B. ; Jones, D.I.
Author_Institution :
Sch. of Electron. Eng. and Comp. Syst., Univ. of Wales, Bangor, UK
Abstract :
This paper presents a new method of path planning for robot manipulators. It is a local roadmap method that is based on the tangent graph in configuration space. The graph is constructed incrementally as the search progresses, removing the pre-processing overhead of other methods; also, a heuristic is used to minimise the number of tangents generated. The technique is demonstrated by a simulation for a three-link planar manipulator
Keywords :
graph theory; optimisation; path planning; robots; search problems; configuration space; heuristic; local roadmap method; path planning; robot; tangent graph; three-link planar manipulator; Joining processes; Manipulators; Orbital robotics; Path planning; Robots; Systems engineering and theory;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351366
