Title :
A framework for global planning for redundant manipulators
Author :
Mclean, Alistair
Author_Institution :
Dept. of Eng. Sci., Oxford Univ., UK
Abstract :
By dividing the path planning problem into two subproblems (local and global planning), we obtain a planner for redundant manipulators that is fast, effective and versatile. Local planning is achieved within a potential field paradigm, modelling a rigid linked manipulator with slightly flexible links. The planner can either be used within advanced tele-operated systems, or as path refinement within an autonomous planner. We use a geometric construction which we call the skeleton to provide a concise connection between the global and local planners. The global planner acquires critical geometric information from the skeleton and end-effector paths are extracted and used to direct the local planner as a first step to a geometric reasoning planner
Keywords :
computational geometry; manipulators; path planning; redundancy; spatial reasoning; geometric construction; geometric reasoning; global path planning; local path planning; potential field; redundant manipulators; skeleton; Collision avoidance; Data mining; Fluctuations; Grid computing; Navigation; Orbital robotics; Path planning; Shape; Skeleton; Topology;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407428