DocumentCode
2533977
Title
A strategy for obstacle avoidance and its application to mullti-robot systems
Author
Tournassoud, Pierre
Author_Institution
INRIA, Cedex, France
Volume
3
fYear
1986
fDate
31503
Firstpage
1224
Lastpage
1229
Abstract
We present a local method for obstacle avoidance based on the existence of extreme separating hyperplanes. Its application is then extended to the coordinated motion of several mobile robots, and to the avoidance of two manipulators. The techniques of local planning we develop here prove to be an interesting substitute to the potential field method, as they provide a simple geometric support for the analysis.
Keywords
Envelope detectors; Information geometry; Manipulators; Mobile robots; Motion planning; Multirobot systems; Robot kinematics; Robot sensing systems; Sensor systems; Stereo vision;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1986.1087543
Filename
1087543
Link To Document