Path Planning for Mobile and Hyper-Redundant Robots Using Pythagorean Hodograph Curves - Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
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 off 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 Robotsusing
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 ag...
متن کاملCooperative Search and Rescue with a Team of Mobile Robots - Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
We present an implemented algorithm f o r a distributed team of autonomous mobile robots to search for an object. When one robot finds i t , they all gather around it, and then manipulate (“rescue”) i t . The algorithm exploits parallelism, with all robots searching concurrently, and also teamwork, because the manipulation is performed cooperatively. Our algorithm is fully distributed; the robo...
متن کاملSix-Degree-of-Freedom Impedance Robot Control - Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
This work is focused on impedance control of robot manipulators performing six-degree-of-freedom interaction tasks. An energy-based formulation leads to formally deriving the dynamic equation characterizing a mechanical impedance at the end effector. An inverse dynamics strategy with contact force and moment measurement is adopted to obtain a configurationindependent desired impedance. For give...
متن کاملGeneralising the planar Pythagorean-hodograph quintic spiral
Abstract Spiral segments are useful in the design of fair curves. They are important in CAD/CAM applications, the design of highway and railway routes, trajectories of mobile robots and other similar applications. The quintic Pythagorean hodograph (PH) curve discussed in this technical report is polynomial; it has the attractive properties that its arc-length is a polynomial of its parameter, a...
متن کاملLocalization and Tracking in Robot Networks
We are interested in the real time pose estimation of a group of networked mobile robots based on exteroceptive information from their vision systems. Additionally, we are also interested in simultaneously tracking a rigid unknown object. We present a localization and object tracking approach based on statistical operators and simple graph searching algorithms. The approach was implemented in o...
متن کامل