Real-Time Path Planning for Multi-DoF Manipulators in Dynamic Environment
نویسندگان
چکیده
منابع مشابه
Real-Time Path Planning for Multi-DoF Manipulators in Dynamic Environment
An efficient path planning algorithm, for multi degrees of freedom manipulator robots in dynamic environments, is presented in this paper. The proposed method is based on a local planner and a boundary following method for rapid solution finding. The local planner is replaced by the boundary following method whenever the robot gets stuck in a local minimum. This method was limited to 2-DoF mobi...
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Path planning is a very important issue in robotics. It has been widely studied for the last decades. This subject has gathered three interesting fields that were quite different in the past. These fields are robotics, artificial intelligence and control. The general problem of path planning consists of searching a collision free trajectory that drives a robot from an initial location (position...
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The large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. Most of this computational burden is due to calculation of switching points. In this paper a learning algorithm is proposed for finding the switching points. The method, which can be used for both ...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2006
ISSN: 1729-8814,1729-8814
DOI: 10.5772/5749