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A near-optimal sensor-based motion-planning algorithm for parts mating

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3 Author(s)
H. Noborio ; Div. of Inf. & Comput. Sci., Osaka Electro-Commun. Univ., Japan ; M. Kadowaki ; K. Urakawa

We propose a near-optimal sensor-based motion-planning algorithm for parts mating. In part mating, only a deadlock-free path to a target point exists around the configuration space obstacle of a point robot. Because the number of unknown obstacles is only one, our algorithm is able to seek for a complicated deadlock-free path efficiently, whose upper bound of the worst path length is exactly evaluated by p+2D (p: the perimeter of the configuration space obstacle; and D: the Euclidean, distance between initial and target points). In this type of sensor-based motion-planning, the lower bound of the worst path length is described by p+D. On the other hand, an upper bound of the worst path length was given by 1.5p+D in the previous algorithm Bug1, and also it was obtained by 2p+D in the previous algorithms Alg1 and Alg2. Comparing our new algorithm with these previous algorithms, if D is fully smaller than p, we ascertain our algorithm's superiority theoretically and experimentally. The proposed algorithm is a significant algorithm because there is only a configuration space obstacle for practical parts mating

Published in:

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

13-17 Oct 1998