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...

Full description

Saved in:
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
Online AccessGet full text
DOI10.1109/CDC.1982.268405

Cover

Abstract 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.
AbstractList 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.
Author S. Luh, J. Y.
Campbell, C. E.
Author_xml – sequence: 1
  givenname: J. Y.
  surname: S. Luh
  fullname: S. Luh, J. Y.
  organization: Purdue University, West Lafayette, Indiana
– sequence: 2
  givenname: C. E.
  surname: Campbell
  fullname: Campbell, C. E.
  organization: Purdue University, West Lafayette, Indiana
BookMark eNp9yTsOAiEQAFAKLfzVFjZcYBEQdalR4wHsN2wcdBIcCGDh7W2srV7x5mxCiYCxtZJCKWm37uSEsr0W-tAbuZ8x7VKMWDFRFwoAz749eY6eCOnBQyoc6f6uraCPvKQxtbpk0-BjhdXPBdtczjd37RAAhlzw5ctnMNIctbS7__sFm2QvrA
ContentType Conference Proceeding
DBID 6IE
6IL
CBEJK
RIE
RIL
DOI 10.1109/CDC.1982.268405
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Xplore POP ALL
IEEE Xplore All Conference Proceedings
IEEE/IET Electronic Library (IEL) (UW System Shared)
IEEE Proceedings Order Plans (POP All) 1998-Present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE/IET Electronic Library
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
EndPage 88
ExternalDocumentID 4047209
Genre orig-research
GroupedDBID 6IE
6IL
CBEJK
RIE
RIL
ID FETCH-ieee_primary_40472093
IEDL.DBID RIE
IngestDate Thu Jun 29 18:12:49 EDT 2023
IsPeerReviewed false
IsScholarly false
Language English
LinkModel DirectLink
MergedId FETCHMERGED-ieee_primary_40472093
ParticipantIDs ieee_primary_4047209
PublicationCentury 1900
PublicationDate 1982-Dec.
PublicationDateYYYYMMDD 1982-12-01
PublicationDate_xml – month: 12
  year: 1982
  text: 1982-Dec.
PublicationDecade 1980
PublicationTitle 1982 21st IEEE Conference on Decision and Control
PublicationTitleAbbrev CDC
PublicationYear 1982
Publisher IEEE
Publisher_xml – name: IEEE
Score 2.3645136
Snippet 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...
SourceID ieee
SourceType Publisher
StartPage 84
SubjectTerms Application software
Computer industry
End effectors
Fixtures
Manipulators
Orbital robotics
Path planning
Service robots
Space exploration
Space stations
Title Collision-free path planning for industrial robots
URI https://ieeexplore.ieee.org/document/4047209
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV2xTsMwED2VTkyAWgQUkAdG7MZtnOI5UFVIRQwgdati5ywhpKQKycLX43NCEKgDm-XBZ93gd3e-9w7gxsfcsTSZ5k6i5XFuFNfGOqo2SYdSOZkR33n9lKxe48eN2gzgtufCIGJoPkNBy_CXn5e2oVLZNCZpQ2LrHSzukpar1an1yEhP0_tU-BR6JoKAifo1LiWgxfII1t922iaRd9HURtjPPxKM_73IMYx_eHnsuUecExhgMYIZ5f6BIc5dhchoxjDbdbOImI9J2Vs_noNVpSnrjzFMlg8v6YqTze2uFZzYdubmpzAsygLPgEW5dvNcZ077_MlG3qEu8e-Fyuwi8ZitzmG074SL_dsTOCTHtV0alzCsqwavPNbW5jo4-QtZJYXD
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV09T8MwED1VZYAJUIuA8uGBkaRxawd5DlQBmoqhSN2i2DlLCCmpQrLw67GdEATqwGZ58Fk3-N2d770DuDExN6MyE56mqDyWS-4JqbStNlGNlGuaWb5zsgrjV_a04ZsB3PZcGER0zWfo26X7y89L1dhS2ZRZaUPL1tvjjDHesrU6vR4aiGl0H_kmiZ75TsKE_xqY4vBicQjJt6W2TeTdb2rpq88_Ioz_vcoRjH-YeeSlx5xjGGAxgpnN_h1H3NMVIrFThsm2m0ZETFRK3voBHaQqZVl_jGGyeFhHsWdtpttWciLtzM1PYFiUBZ4CCXKh57nItDAZlAqMS3VoXgyeqbvQoDY_g9GuE853b1_DfrxOlunycfU8gQPrxLZn4wKGddXgpUHeWl45h38Biv6JEA
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=1982+21st+IEEE+Conference+on+Decision+and+Control&rft.atitle=Collision-free+path+planning+for+industrial+robots&rft.au=S.+Luh%2C+J.+Y.&rft.au=Campbell%2C+C.+E.&rft.date=1982-12-01&rft.pub=IEEE&rft.spage=84&rft.epage=88&rft_id=info:doi/10.1109%2FCDC.1982.268405&rft.externalDocID=4047209