Journal ArticleDOI
Control of a Robot-Manipulator with Obstacle Avoidance Under Little Information about the Environment
A.A. Petrov,I.M. Sirota +1 more
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TLDR
The method of obstacle avoidance for a robot-manipulator in a complex unknown environment is proposed which requires only local information about the mere presence of an obstacle in the immediate vicinity of the moving manipulator.About:
This article is published in IFAC Proceedings Volumes.The article was published on 1981-08-01. It has received 29 citations till now. The article focuses on the topics: Obstacle avoidance & Obstacle.read more
Citations
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Journal ArticleDOI
Kinodynamic Motion Planning
TL;DR: In this paper, the authors extend the capabilities of the harmonic potential field (HPF) approach to cover both the kinematic and dynamic aspects of a robot's motion by augmenting it with a novel type of damping forces.
Journal ArticleDOI
Algorithmic and complexity issues of robot motion in an uncertain environment
TL;DR: The approach surveyed here, called dynamic path planning, has been developed in the last few years; it is based on the latter model and gives rise to algorithmic and computational issues very different from those in the former model.
Journal ArticleDOI
Effect of kinematics on motion planning for planar robot arms moving amidst unknown obstacles
TL;DR: Various kinematic configurations of planar arms with revolute and sliding joints are analyzed and it is shown that, depending on the arm kinematics, specific modifications must be introduced in the path planning algorithm to preserve convergence.
Journal ArticleDOI
Motion planning in the presence of directional and regional avoidance constraints using nonlinear, anisotropic, harmonic potential fields: a physical metaphor
S.A. Masoud,Ahmad A. Masoud +1 more
TL;DR: A new class of motion planners that can mark a constrained trajectory to a target zone in an environment that need not necessarily be a priori known is suggested, which has applications in traffic management and operations research among others.
Journal ArticleDOI
Decision of robot movement by means of a potential field
Masatoshi Okutomi,Masahiro Mori +1 more
TL;DR: Two new concepts, 'state space for a robot' and'oval potential', are proposed, on the basis of the proposed method, the robot has a potential field in which to store information about its environment.
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ReportDOI
Modelling, trajectory calculation and servoing of a computer controlled arm
TL;DR: In modelling the author uses a symbolic data structure to represent objects in the environment and a planning program interprets symbolic arm control instructions and generates a plan consisting of arm motions and hand actions.