Collision-free path planning for industrial robots

A collision-free path is a path which the robot can physically take while traveling from one location to another in an environment containing obstacles. The environment is modified by the inclusion of pseudo-obstacles which are generated by real obstacles' edges and faces; this process allows t...

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Bibliographic Details
Published in1982 21st IEEE Conference on Decision and Control pp. 84 - 88
Main Authors S. Luh, J. Y., Campbell, C. E.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.1982
Subjects
Application software
Computer industry
End effectors
Fixtures
Manipulators
Orbital robotics
Path planning
Service robots
Space exploration
Space stations
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DOI10.1109/CDC.1982.268405

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Summary:A collision-free path is a path which the robot can physically take while traveling from one location to another in an environment containing obstacles. The environment is modified by the inclusion of pseudo-obstacles which are generated by real obstacles' edges and faces; this process allows the robot itself to be represented by a point specifying its tip's location in space. An algorithm for determining the shortest distance collision-free path given a sequence of edges to be traversed has been developed for the case of stationary obstacles.
DOI:10.1109/CDC.1982.268405