Title :
A novel potential-based path planning of 3-D articulated robots with moving bases
Author :
Lin, Chien-Chou ; Pan, Chi-Chun ; Chuang, Jen-Hui
Author_Institution :
Dept. of Comput. & Inf. Sci., Nat. Chiao Tung Univ., Hsinchu, Taiwan
Abstract :
This paper proposes a novel path planning algorithm of 3-D articulated robots with moving bases based on a generalized potential field model. The approach computes, similar to that done in electrostatics, repulsive force and torque between charged objects. A collision-free path can be obtained by locally adjusting the robot configuration to search for minimum potential configurations using these force and torque. The proposed approach is efficient since these potential gradients are analytically tractable. In order to speedup the computation, a sequential planning strategy is adopted. Simulation results show that the proposed algorithm works well, in terms of collision avoidance and computation efficiency.
Keywords :
force control; manipulators; mobile robots; path planning; torque control; 3D articulated robots; collision free path; computation efficiency; electrostatics; generalized potential field model; manipulators; minimum potential configurations; mobile robots; potential based path planning; potential gradients; repulsive force; repulsive torque; sequential planning strategy; Collision avoidance; Computational modeling; Electrostatics; Information science; Orbital robotics; Path planning; Robots; Space charge; Torque; Trajectory;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242110