| Real-Time Collision-Free Path Planning for Robots in Configuration Space |
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| 作者姓名： | Li Wei Zhang Bo Hilmar Jaschek |
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| 作者单位： | [1]DepartmentofComputerScience,TsinghuaUniversity,Beijing100084 [2]LeratuhlfurSystemtheoriederElektrotechni,TsinghuaUniversity,Beijing100084 |
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| 摘 要： | Collision-free path planning for an industrial robot in configuration space requires mapping obstacles from robot‘s workspace into its configuration space.In this paper,an approach to real-time collision-free path planning for robots in configuration space is presented.Obstacle mapping is carried out by fundamental obstacles defined in the workspace and their images in the configuration space.In order to avoid dealing with unimportant parts of the configuration space that do not affect searching a collision-free path between starting and goal configurations,we construct a free subspace by slice configuration obstacles.In this free subspace,the collision-free path is determined by the A^* algorithm.Finally,graphical simulations show the effectiveness of the proposed approach.
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| 关 键 词： | 机器人 位形空间 图形模拟 |
Real-time collision-free path planning for robots in configuration space |
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| Li Wei,Zhang Bo,Hilmar Jaschek.Real-Time Collision-Free Path Planning for Robots in Configuration Space[J].Journal of Computer Science and Technology,1994,9(1):37-52. |
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| Authors: | Wei Li Bo Zhang Hilmar Jaschek |
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| Affiliation: | Department of Computer Science; Tsinghua University; Beijing l00084; Lehrstuhl for Systemtheorie der Elektrotechnik; University of Saarland; Germany; |
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| Abstract: | Collision-free path planning for an industrtal robot in configuration space requires mapping obstacles from robot's workspace into its configuration space. In this paper ,an approach to real-time collision-free path planning for robots in configuration space is presented. Obstacle mapping is carried out by fundamental obstacles defined in the workspace and their images in the configuration space. In order to avoid dealing with unimportant parts of the configuration space that do not thect searching a collision-free path between starting and goal configurations, we construct a free subspace by slice configuration obstacles. In this free subspace, the collision-free path is determined by the A algorithm. Finally, graphical simulations show the effectiveness of the proposed approach. |
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| Keywords: | Motion planning collision avoidance robotics graphical simulation |
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