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A novel potential-based path planning of 3-D articulated robots with moving bases

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3 Author(s)
Chien-Chou Lin ; Dept. of Comput. & Inf. Sci., Nat. Chiao Tung Univ., Hsinchu, Taiwan ; Chi-Chun Pan ; Jen-Hui Chuang

This paper proposes a novel path planning algorithm of 3-D articulated robots with moving bases based on a generalized potential field model. The approach computes, similar to that done in electrostatics, repulsive force and torque between charged objects. A collision-free path can be obtained by locally adjusting the robot configuration to search for minimum potential configurations using these force and torque. The proposed approach is efficient since these potential gradients are analytically tractable. In order to speedup the computation, a sequential planning strategy is adopted. Simulation results show that the proposed algorithm works well, in terms of collision avoidance and computation efficiency.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:3 )

Date of Conference:

14-19 Sept. 2003