Referenced Items are not available for this document.
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
Published in:
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
(Volume:2
)
Date of Conference: 2000
- Page(s):
- 903 - 908 vol.2
- Meeting Date :
- 31 Oct 2000-05 Nov 2000
- Print ISBN:
- 0-7803-6348-5
- INSPEC Accession Number:
- 6853162
- Conference Location :
- Takamatsu
- Digital Object Identifier :
- 10.1109/IROS.2000.893134
- Product Type:
- Conference Publications
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