A basic algorithm and data structures for sensor-based path planning in unknown environments

Deals with the sensor-based path planning problem. In particular, we present the case for manipulator arms. We assume that the knowledge of workspace is partially known and that it can be increased by using a laser-like sensor. We propose a representation of the workspace that is well adapted to exp...

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Bibliographic Details
Published in2000 IEEE/RSJ International Conference on Intelligent Robots and Systems Proceedings Vol. 2; pp. 903 - 908 vol.2
Main Authors Ahuactzin, J.M., Portilla, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2000
Subjects
Arm
Data structures
Laser modes
Manipulators
Orbital robotics
Path planning
Robot sensing systems
Solid modeling
Sonar
Topology
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ISBN9780780363489
0780363485
DOI10.1109/IROS.2000.893134

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Summary:Deals with the sensor-based path planning problem. In particular, we present the case for manipulator arms. We assume that the knowledge of workspace is partially known and that it can be increased by using a laser-like sensor. We propose a representation of the workspace that is well adapted to exploit the information obtained from the sensors and then compute collision detection. A sensor-based version of the Ariadne's Clew Algorithm is used to incrementally search for the free space and compute a path to a goal configuration.
ISBN:9780780363489
0780363485
DOI:10.1109/IROS.2000.893134