Three or more dimensional digital tangential graph and its motion-planning

Author

Noborio, Hiroshi ; Hirata, Atsushi ; Maeda, Yasuhiro

Author_Institution

Dept. of Eng. Inf., Osaka Electro-Commun. Univ., Japan

Volume

3

fYear

1999

fDate

1999

Firstpage

1834

Abstract

A tangential graph has been widely used for selecting an optimal (shortest) path in a 2D environment with polygonal obstacles. The searching is very efficient because the size of a tangential graph is extremely small. However, it is difficult to design a smart method for constructing the graph in a 2D or 3D environment with free shaped obstacles. We firstly define a configuration space of a robotic manipulator as a 2D or 3D digital map, secondly construct a digital tangential graph in the map, and finally, select an optimal path from the graph by an A* algorithm. The size of a digital tangential graph and the speed of its A* search are ascertained by 2D and 3D graphics simulations

Keywords

computational complexity; graph theory; manipulators; optimisation; path planning; 2D environment; 3D digital map; 3D environment; 3D graphics simulations; A* algorithm; A* search; configuration space; digital tangential graph; free shaped obstacles; motion planning; optimal path; polygonal obstacles; robotic manipulator; shortest path; smart method; Costs; Design methodology; Graphics; Informatics; Joining processes; Manipulators; Motion-planning; Orbital robotics; Path planning; Safety;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on

Conference_Location

Kyongju

Print_ISBN

0-7803-5184-3

Type

conf

DOI

10.1109/IROS.1999.811745

Filename

811745