• DocumentCode
    329587
  • Title

    Path planning of a mobile manipulator using virtual window

  • Author

    Morris, A.S. ; Mansor, M.A.

  • Author_Institution
    Sheffield Univ., UK
  • fYear
    1998
  • fDate
    1-4 Sep 1998
  • Firstpage
    1186
  • Abstract
    The paper describes a new path planning method for a mobile manipulator arm. Path planning is effected by projecting a virtual window ahead of the manipulator and using a neural network to decode the image in the window and identify collisions (intersections) of the window with unknown obstacles in the workspace. The manipulator path is then adjusted accordingly to avoid collisions
  • Keywords
    manipulators; collision identification; image decoding; intersection identification; mobile manipulator arm; neural network; path planning; unknown obstacles;
  • fLanguage
    English
  • Publisher
    iet
  • Conference_Titel
    Control '98. UKACC International Conference on (Conf. Publ. No. 455)
  • Conference_Location
    Swansea
  • ISSN
    0537-9989
  • Print_ISBN
    0-85296-708-X
  • Type

    conf

  • DOI
    10.1049/cp:19980396
  • Filename
    726088
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=329587