Title :
A joint space technique for real time robot path planning
Author :
Sanders, David A. ; Moore, Antony ; Luk, Bing
Author_Institution :
Sch. of Syst. Eng., Portsmouth Polytech., UK
Abstract :
An elegant and fast path planning system is presented. The main part of the system comprises a robot ´Path Planner´ and ´Path Improver´ containing a geometric model of the static environment and the robot. The robot structure is modelled as connected cylinders and spheres and the range of robot motion is quantised. To test the techniques a system was constructed that used a dynamic geometric ´World Model´ updated by a vision system. Obstacles were placed in the path of a robot and the results are presented.<>
Keywords :
mobile robots; path planning; Path Improver; Path Planner; World Model; geometric model; joint space technique; mobile robots; obstacle avoidance; real time robot path planning; robot motion; static environment; vision system; Cost function; Engine cylinders; Machine vision; Orbital robotics; Path planning; Robot motion; Robotics and automation; Solid modeling; System testing; Systems engineering and theory;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240365
