Title :
Collision-free path planning for mobile robots and/or AGVs using simulated annealing
Author :
Martínez-Alfaro, Horacio ; Flugrad, Donald R.
Author_Institution :
Centro de Inteligencia Artificial, ITESM, Monterrey, Mexico
Abstract :
This paper describes a technique to obtain an optimal collision-free path for mobile robots and/or automated guided vehicles (AGVs) in 2D and 3D by synthesizing a B-spline curve. The problem is formulated as a combinatorial optimization problem and solved by using simulated annealing. A two-link planar manipulator is included to show that a curve can also be synthesized by adding some kinematic characteristics of a robot. Several examples in 2D and 3D are presented to demonstrate the robustness of the technique. Future research is discussed
Keywords :
automatic guided vehicles; kinematics; mobile robots; path planning; simulated annealing; splines (mathematics); AGV; B-spline curve; automated guided vehicles; collision-free path planning; combinatorial optimization; kinematic characteristics; mobile robots; simulated annealing; two-link planar manipulator; Costs; Manipulators; Mechanical engineering; Mobile robots; Orbital robotics; Path planning; Shape control; Simulated annealing; Spline; Vehicles;
Conference_Titel :
Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-2129-4
DOI :
10.1109/ICSMC.1994.399849
