A novel potential-based path planning of 3-D articulated robots with moving bases

Chien Chou Lin*, Chi Chun Pan, Jen-Hui Chuang

*Corresponding author for this work

Research output: Contribution to journalConference article

4 Scopus citations

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.

Original languageEnglish
Pages (from-to)3365-3370
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
DOIs
StatePublished - 9 Dec 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan
Duration: 14 Sep 200319 Sep 2003

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