Title :
A method for fast computation of collision-free robot movements in configuration-space
Author :
Adolphs, P. ; Nafziger, Dirk
Author_Institution :
Control Syst. Theory & Robotics Group, Tech. Univ. of Darmstadt, Germany
Abstract :
Some algorithms for a fast and efficient computation of collision-free robot gross-motions are presented. A technique based on a lookup-table for mapping obstacles into configuration-space, is shown. Some algorithms for the generation of the distance-field in configuration space, which were derived from well-known methods but adapted for c-space, are described and compared with respect to their effectiveness
Keywords :
planning (artificial intelligence); position control; robots; table lookup; c-space; collision free movements; configuration-space; motion control; path planning; robot; table lookup; Large Hadron Collider; Orbital robotics; Path planning; Robot kinematics; Robot motion; Robotics and automation; Shape;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262362
