Title :
Random Triangle Sampling Path Planning of Assembly/Disassembly in Environment with Dangerzones
Author :
Peng Fei ; Zhao Yao
Author_Institution :
Huazhong Univ. of Sci. & Technol., Wuhan, China
Abstract :
To solve the assembly/disassembly path planning in the environment with danger zones, a RRT-based path planning algorithm was presented. The algorithm addressed a random sampling function which obtains random state from the triangles that describe the dangerzones. The local planner connecting the samples with RRT tree is also introduced. Experimental results show that the algorithm much more effectively searches the paths between dangerzones and obstacles.
Keywords :
motion control; path planning; robotic assembly; assembly path planning; disassembly path planning; random sampling function; random triangle sampling path planning; Automation; Computational modeling; Computer aided manufacturing; Joining processes; Mechatronics; Motion planning; Orbital robotics; Path planning; Robotic assembly; Sampling methods; configuration space; constraints; path planning; random sampling; rapidly-explorating random tree;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2010 International Conference on
Print_ISBN :
978-1-4244-5001-5
Electronic_ISBN :
978-1-4244-5739-7
DOI :
10.1109/ICMTMA.2010.757
