Open AccessProceedings Article
Calculation of optimal paths in the configuration space using artificial potential fields and a* and d* algorithms for an articulated robot. Comparison of techniques
Miguel A. Gutiérrez,Alejandro González Morales,Vidal Moreno,Belén Curto +3 more
- pp 11-16
TLDR
A calculation path technique based on the configuration space in the case of an articulated robot of two degrees of freedom is used, choosing in each case the best option for each one of the techniques for the combination.Abstract:
In this paper, we use a calculation path technique based on the configuration space in the case of an articulated robot of two degrees of freedom. We propose the use of artificial potential fields to represent the configuration space and the use of techniques of artificial intelligence like A* and D* to search a free collision path into the configuration space. This combination of techniques can be used in static and dynamic environments with more than three dimensions without considering the geometry of the obstacles. The results for this combination of techniques are presented, choosing in each case the best option for each one of the techniques for the combination.read more
References
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Journal ArticleDOI
Robot motion planning: a distributed representation approach
TL;DR: A new approach to robot path planning that consists of building and searching a graph connecting the local minima of a potential function defined over the robot's configuration space is proposed and a planner based on this approach has been implemented.
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The focussed D* algorithm for real-time replanning
TL;DR: An extension to D* that focusses the repairs to significantly reduce the total time required for the initial path calculation and subsequent replanning operations for dynamic environments where arc costs can change during the traverse of the solution path.
Journal ArticleDOI
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Shuzhi Sam Ge,Y. J. Cui +1 more
TL;DR: A new potential field method for motion planning of mobile robots in a dynamic environment where the target and the obstacles are moving is proposed and the problem of local minima is discussed.
Book
Collision detection and avoidance in computer controlled manipulators
TL;DR: It is shown how the principles of hierarchical decomposition can be used to reduce the complexity of the manipulator trajectory planning problem and how it is possible to decompose the planning task so as to get the best of both cartesian space and joint space representations, and yet avoid the constant conversion overhead problem.
Journal ArticleDOI
Computation of configuration-space obstacles using the fast Fourier transform
TL;DR: This paper presents a new method for computing the configuration-space map of obstacles that is used in motion-planning algorithms, and is particularly promising for workspaces with many and/or complicated obstacles, or when the shape of the robot is not simple.