Title :
Minimum time robot path planning in the presence of obstacles
Author :
Johnson, D.W. ; Gilbert, E.G.
Author_Institution :
University of Michigan, Ann Arbor, Michigan
Abstract :
An approach to minimum time robotic path planning in the presence of obstacles is given. It is formulated in an optimal control context with obstacle avoidance expressed in terms of the distances between potentially colliding parts. Procedures for computing the distances between general part shapes in three-dimensional space are discussed. Numerical examples involving manipulators operating in two and three-dimensional workspaces are described.
Keywords :
Actuators; Aerodynamics; Equations; Manipulator dynamics; Orbital robotics; Path planning; Processor scheduling; Productivity; Robots; Shape;
Conference_Titel :
Decision and Control, 1985 24th IEEE Conference on
Conference_Location :
Fort Lauderdale, FL, USA
DOI :
10.1109/CDC.1985.268837
