By Topic

Local motion planning for manipulators based on shrinking and growing geometry models

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Baginski, B. ; Robotics & Real-Time Syst. Group, Tech. Univ. Munchen, Germany

A new approach to motion planning for manipulators is presented. A collision-free path is initially obtained by shrinking the robot's geometry model, and this path is modified to remain collision-free while the robot is re-inflated. For this purpose, a measure based on the factor needed to shrink the robot's geometry model in a certain configuration to get it free of collisions is defined. This measure serves as a potential and is used to modify whole trajectories. The planning information is evaluated locally, no preprocessing or global potential diffusion is required. To overcome local minima, the planner is embedded in a random global exploration algorithm. Simulation results demonstrate the power of this approach

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996