DocumentCode
3071615
Title
Minimum time robot path planning in the presence of obstacles
Author
Johnson, D.W. ; Gilbert, E.G.
Author_Institution
University of Michigan, Ann Arbor, Michigan
fYear
1985
fDate
11-13 Dec. 1985
Firstpage
1748
Lastpage
1753
Abstract
An approach to minimum time robotic path planning in the presence of obstacles is given. It is formulated in an optimal control context with obstacle avoidance expressed in terms of the distances between potentially colliding parts. Procedures for computing the distances between general part shapes in three-dimensional space are discussed. Numerical examples involving manipulators operating in two and three-dimensional workspaces are described.
Keywords
Actuators; Aerodynamics; Equations; Manipulator dynamics; Orbital robotics; Path planning; Processor scheduling; Productivity; Robots; Shape;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1985 24th IEEE Conference on
Conference_Location
Fort Lauderdale, FL, USA
Type
conf
DOI
10.1109/CDC.1985.268837
Filename
4048618
Link To Document