A RRT-based collision-free and occlusion-free path planning method for a 7DOF manipulator

Author

Yeoun-Jae Kim ; So-Youn Park ; Jeong-Jung Kim ; Jeong-Hyeon Wang ; Joon-Yong Lee ; Ju-Jang Lee

Author_Institution

Robot. Program, KAIST, Daejeon, South Korea

fYear

2014

fDate

3-6 Aug. 2014

Firstpage

1017

Lastpage

1021

Abstract

In this paper, we present a path planning algorithm of a 7DOF manipulator with RRT(Rapidly-exploring Random Trees). The method presents a occlusion-free and collision-free path planning algorithm. First, we present a basics of RRT algorithm which is a basic searching method for a path planning of this paper. Second, the implementation of a occlusion-free path constraints is presented. Third, the collision-avoiding path planning constraints is presented. Fourth, the integration of RRT with these two constraints is shown. The proposed method is verified by a numerical simulation with Matlab and v-rep robotics simulation tool.

Keywords

collision avoidance; manipulators; mobile robots; numerical analysis; random processes; search problems; trees (mathematics); 7DOF manipulator; Matlab; RRT; basic searching method; collision-avoiding path planning constraints; collision-free path planning method; numerical simulation; occlusion-free path constraints; occlusion-free path planning method; rapidly-exploring random trees; v-rep robotics simulation tool; Conferences; Humanoid robots; Manipulators; Path planning; Sensors; Vectors; 7DOF manipulator; Collision; Occlusion; Path planning; Simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2014 IEEE International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4799-3978-7

Type

conf

DOI

10.1109/ICMA.2014.6885837

Filename

6885837