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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| Published in | 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems Proceedings Vol. 2; pp. 903 - 908 vol.2 |
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| Main Authors | , |
| Format | Conference Proceeding |
| Language | English |
| Published |
IEEE
2000
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| Subjects | |
| Online Access | Get full text |
| ISBN | 9780780363489 0780363485 |
| DOI | 10.1109/IROS.2000.893134 |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Portilla, A. Ahuactzin, J.M. |
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| Snippet | 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... |
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| StartPage | 903 |
| SubjectTerms | Arm Data structures Laser modes Manipulators Orbital robotics Path planning Robot sensing systems Solid modeling Sonar Topology |
| Title | A basic algorithm and data structures for sensor-based path planning in unknown environments |
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