DocumentCode :
2533977
Title :
A strategy for obstacle avoidance and its application to mullti-robot systems
Author :
Tournassoud, Pierre
Author_Institution :
INRIA, Cedex, France
Volume :
3
fYear :
1986
fDate :
31503
Firstpage :
1224
Lastpage :
1229
Abstract :
We present a local method for obstacle avoidance based on the existence of extreme separating hyperplanes. Its application is then extended to the coordinated motion of several mobile robots, and to the avoidance of two manipulators. The techniques of local planning we develop here prove to be an interesting substitute to the potential field method, as they provide a simple geometric support for the analysis.
Keywords :
Envelope detectors; Information geometry; Manipulators; Mobile robots; Motion planning; Multirobot systems; Robot kinematics; Robot sensing systems; Sensor systems; Stereo vision;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type :
conf
DOI :
10.1109/ROBOT.1986.1087543
Filename :
1087543
Link To Document :
بازگشت