Path Planning for Mobile and Hyper - Redundant Robotsusing
نویسندگان
چکیده
Pythagorean hodograph curves (PH curves) have a number of advantages over other splines commonly used in planar robot path planning: (i) the integral of curvature is small; (ii) the curve, its length, curvature and total \bending energy" are known in closed-form; (iii) start and end positions and directions are straightforwardly usable as boundary conditions; and (iv) length can be traded oo against curvature quite easily. These facts make PH curves especially interesting for the planning of car-like mobile robot paths, as well as for the calculation of the \backbone curve" in the inverse kinematics of hyper-redundant robots.
منابع مشابه
Path Planning for Mobile and Hyper-Redundant Robots Using Pythagorean Hodograph Curves - Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
Pythagorean hodograph curves (PH curves) have a number of advantages over other splines commonly used in planar robot path planning: (i) the integral of curvature is small; (ii) the curve, its length, curvature and total “bending energy” are known in closed-form; (iii) start and end positions and directions are straightforwardly usable as boundary conditions; and (iv) length can be traded off a...
متن کاملHyper-redundant robot mechanisms and their applications
Hyper-redundant robots have a large or infinite number of degrees of freedom. Such robots are analogous to snakes or tentacles and are useful for operation in highly constrained environments and novel forms of locomotion. This paper reviews newly developed methods for the kinematic analysis of hyper-redundant manipulators. These methods can be applied to a wide variety of hyper-redundant morpho...
متن کامل3D Path Planning Algorithm for Mobile Anchor-Assisted Positioning in Wireless Sensor Networks
Positioning service is one of Wireless Sensor Networks’ (WSNs) fundamental services. The accurate position of the sensor nodes plays a vital role in many applications of WSNs. In this paper, a 3D positioning algorithm is being proposed, using mobile anchor node to assist sensor nodes in order to estimate their positions in a 3D geospatial environment. However, mobile anchor node’s 3D path optim...
متن کاملA Potential-based Path Planning Algorithm for Hyper-redundant Manipulators
A novel collision avoidance algorithm based on the generalized potential model is proposed to solve the path-planning problem of hyper-redundant manipulators in 3D workspace. The approach computes repulsive force and torque between manipulator and obstacles by using the workspace information directly. A collision-free path for a manipulator can then be obtained by locally adjusting the manipula...
متن کاملPASO: An Integrated, Scalable PSO-based Optimization Framework for Hyper-Redundant Manipulator Path Planning and Inverse Kinematics
Hyper-redundant manipulation is the use of a hyper-DOF robotic system to accomplish tasks such as picking, placing, reaching, and exploring in challenging environments. Hyper-redundant manipulation involves both finding collisionfree configuration-space paths (the path planning (PP) problem) and transforming a given workspace target pose into a configuration space goal (the inverse kinematics (...
متن کامل