DocumentCode :
309452
Title :
A novel approach for motion planning
Author :
Cheng, Hao-Chien ; Cheng, Hui
Author_Institution :
Inst. of Autom., Acad. Sinica,Beijing, China
Volume :
1
fYear :
1993
fDate :
26-30 Jul 1993
Firstpage :
692
Abstract :
The feasible map approach (FMA) to certain motion planning problems in robotics is introduced. This approach is based on the use of a feasible map representation of a configuration space. When a feasible map is constructed, the topology of a configuration space is derived by shrink transformation. Path planning is done at two levels: first, to find a feasible path in a feasible map, and second, to transform the feasible path in the feasible map into the configuration space. When a feasible map is obtained, the feasible path can be obtained according to any starting and desired configurations, at once. A detailed FMA is given on a sphere world and the performance of the proposed algorithm is demonstrated by experiments. The results indicate that the FMA is efficient, useful and widely applicable
Keywords :
mobile robots; configuration space; feasible map approach; feasible path; motion planning; path planning; robotics; shrink transformation; topology; Algorithm design and analysis; Automation; Computer science; Joining processes; Orbital robotics; Pattern recognition; Robots; Rubber;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
Type :
conf
DOI :
10.1109/IROS.1993.583193
Filename :
583193
Link To Document :
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