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Path-planning research of robots based on wave expansion algorithm

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4 Author(s)
Liu Shicheng ; Sch. of Inf. Sci. & Eng., Shenyang Univ. of Technol., China ; Dong Zaili ; Sun Maoxiang ; Cui Maoyuan

Instead of using the tedious process of robot teaching, an off-line path planning algorithm based on wave expansion method has been developed for industrial robots. The continuous Cartesian W-space in world coordinates is discretized into an equidistant 3D-grid and then the free points and obstacle points are indicated by different numbers. By use of the wave expansion method, the free points are further assigned a marked number. The path is found based on the assigned marked number via wave expansion method. As comparison, depth-first search method is presented. The proposed algorithm is tested on a 6-DOF industrial robot and the expected results are obtained.

Published in:

Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on  (Volume:6 )

Date of Conference:

15-19 June 2004