Generation of a 3D robot path for collision avoidance of a workpiece based on voxel and vector field

Author(s):  
Min Ji Kim ◽  
Kang Park
2019 ◽  
Vol 4 (4) ◽  
pp. 4048-4053 ◽  
Author(s):  
Juan Jose Quiroz-Omana ◽  
Bruno Vilhena Adorno

Robotica ◽  
1987 ◽  
Vol 5 (4) ◽  
pp. 291-302 ◽  
Author(s):  
K. Sun ◽  
V. Lumelsky

SUMMARYComputer simulation is a major tool in validation of robot motion planning systems, since, on the one hand, underlying theory of algorithms typically requires questionable assumptions and simplifications, and, on the other hand, experiments with hardware are necessarily limited by available resources and time. This is especially true when the motion planning system in question is based on sensor feedback and the generated trajectory is, therefore, unpredictable. This paper describes a simulation system ROPAS (for RObot PAth Simulation) for testing one approach — called Dynmic Path Planning (DPP) — to sensor-based robot collision avoidance in an environment with unknown obstacles. Using real time graphics animation of the motion planning system, the user can simulate the behavior of an autonomous vehicle or a robot arm manipulator with a fixed base. The overall structure of the system is described, and examples are presented.


2020 ◽  
Vol 53 (4) ◽  
pp. 101-108
Author(s):  
Cristian Mahulea ◽  
Marius Kloetzer ◽  
Jean-Jacques Lesage

Author(s):  
Zhihong Peng ◽  
◽  
Zhimin Chen

This paper focuses on ground-moving target tracking of an unmanned aerial vehicle (UAV) in the presence of static obstacles and moving threat sources. Due to a UAV is restricted by airspace restrictions and measurement limitations during flight, we derive a dynamic path planning strategy by generating guidance vector filed combined Lyapunov vector field with collision avoidance potential function to track target in standoff distance loitering pattern, and resolved collision avoidance, simultaneously. This method relies only on the current information of the UAV and target, and generates a single-step route plan in realtime. Its performance is simple, efficient, and fast and have low computational complexity. The results of numerical simulation verify the effectiveness of the tracking and collision avoidance process of the UAV.


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