کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
9654551 | 680415 | 2005 | 22 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Obstacle representation by Bump-surfaces for optimal motion-planning
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
This paper introduces a new method for global, near optimal, motion-planning of a robot (either mobile or redundant manipulator) moving in an environment cluttered with a priori known prohibited areas which have arbitrary shape, size and location. The proposed method is based on the novel notion of Bump-surfaces (or B-surfaces) which represent the entire robot environment through a single mathematical entity. The motion-planning solution is searched on a higher-dimension B-surface in such a way that its inverse image into the robot environment satisfies the given objectives and constraints. The computed solution for a mobile robot consists of a smooth curve without self-loops which connects the starting and destination points with the shortest possible path. The same approach is also used for nth degree-of-freedom manipulators where the end-effector reaches the destination position following a smooth short path avoiding the prohibited areas. For clarity reasons the proposed method is introduced in this paper for the case of a two-dimensional (2D) planar terrain with static obstacles, while a generalization to motion-planning problems on curved terrains is also discussed. Extensive experiments are presented and discussed to illustrate the efficiency and effectiveness of the proposed motion-planning method in a variety of complex environments.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 51, Issues 2â3, 31 May 2005, Pages 129-150
Journal: Robotics and Autonomous Systems - Volume 51, Issues 2â3, 31 May 2005, Pages 129-150
نویسندگان
Philip N. Azariadis, Nikos A. Aspragathos,