In this paper we propose a new path planning method for a robot manipulator in a cluttered static environment, based on lazy grid sampling. Grid cells are built while searching for the path to the goal configuration. The proposed planner acts in two modes. A depth mode while the robot is far from obstacles makes it evolve toward its goal. Then a width search mode becomes active when the robot g...

We present a human-robot-cooperation welding system, consisting of several phases including a coarse acquisition of the work piece geometry, interactive fine-scanning of welding seam regions and automated optimizing path planning after task specification by the user. The coarse geometry acquisition component is explained in detail showing the feasible application of a novel and cheap 3D-Sensor ...

This paper presents a theoretical analysis of a casebase used for mobile robot path planning in dynamic environments. Unlike other case-based path planning approaches, we use a grid map to represent the environment that permits the robot to operate in unstructured environments. The objective of the mobile robot is to learn to choose paths that are less risky to follow. Our experiments with real...

Path planning has important applications in many areas, for example industrial robotics, autonomous systems, virtual prototyping, and computer-aided drug design. This thesis presents a new framework for developing and evaluating path planning algorithms. The framework is named CoPP (Components for Path Planning). It consists of loosely coupled and reusable components that are useful for buildin...

A method of Robot path planning based neural network has been raised in order to guarantee that the robot can simultaneously avoid movable obstacle intelligently when it is reaching the destination. In the first instance, every robot will be divided into spheres of influence, and the influence map will be worked out at the same time. Then neural network is used to select the path. In view of th...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

Optimal motion planning is critical for the successful operation of an autonomous mobile robot. Many proposed approaches use either fuzzy logic or genetic algorithms (GAs), however, most approaches offer only path planning or only trajectory planning, but not both. In addition, few approaches attempt to address the impact of varying terrain conditions on the optimal path. This paper presents a ...