Path planning of 3-D objects using a new workspace model

Chi Hao Tsai, Jou Sin Lee, Jen-Hui Chuang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper proposes a collision avoidance algorithm to solve the problem of (local) path planning for a 3-D object moving among polyhedral obstacles. The algorithm is based on a generalized potential model of workspace [1] which assumes that the boundary of every 3-D object is uniformly charged. According to the proposed approach, the repulsive force and torque between the moving object and the obstacles due to the above model is used to adjust the position and orientation of the object so as to keep it away from the obstacles while passing through a bottleneck in the free space. Simulation results demonstrate that the path of a 3-D object thus obtained is indeed safe and spatially smooth. The adopted potential field is analytically tractable which makes the path planning effcient.

Original languageAmerican English
Title of host publicationProceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publicationIntegrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001
EditorsHong Zhang, Peter Xiaoping Liu
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages420-425
Number of pages6
ISBN (Electronic)0780372034
DOIs
StatePublished - 1 Jan 2001
EventIEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001 - Banff, Canada
Duration: 29 Jul 20011 Aug 2001

Publication series

NameProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume2001-January

Conference

ConferenceIEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001
CountryCanada
CityBanff
Period29/07/011/08/01

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