DocumentCode :
2439561
Title :
Motion planning algorithm for heterogeneous combinatorial robots
Author :
Ho, Hong-Fa ; Jao, Jui-Chun ; Liao, Wen-Xiong
Author_Institution :
Nat. Taiwan Normal Univ., Taipei
fYear :
2007
fDate :
17-20 Oct. 2007
Firstpage :
628
Lastpage :
633
Abstract :
Some properties and an algorithm of motion planning problem of heterogeneous combinatorial point robots are presented. Heterogeneous combinatorial point robots can be combined and separated freely during moving. It is proven that the problem in a static discrete environment is compliant to the principle of optimality. Dynamic programming algorithms are used to solve this problem. The superposition property of the problem is presented. The n time complexity of this problem is O(|qV|2kSigmai=1 nCi n). The motion planning problem of homogeneous combinatorial point robots is a special case of that of heterogeneous ones. A probabilistic roadmap method is used in the experiments and it finds feasible motion plans efficiently.
Keywords :
computational complexity; dynamic programming; path planning; probability; robots; dynamic programming algorithms; heterogeneous combinatorial robots; motion planning algorithm; probabilistic roadmap method; static discrete environment; time complexity; Costs; Educational robots; Electronics industry; Industrial control; Iterative algorithms; Motion planning; Orbital robotics; Robotics and automation; Service robots; Technology planning; Algorithm; Heterogeneous combinatorial robots; Motion planning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-6-2
Electronic_ISBN :
978-89-950038-6-2
Type :
conf
DOI :
10.1109/ICCAS.2007.4407099
Filename :
4407099
Link To Document :
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