A geometric approach to manipulator path planning in 3D space in the presence of obstacles

Robotica ◽  
1992 ◽  
Vol 10 (4) ◽  
pp. 321-328
Author(s):  
Manja Kirćanski ◽  
Olga Timčenko
Keyword(s):  
Euclidean Space ◽  
Path Planning ◽  
Real Time ◽  
Control Level ◽  
Geometric Approach ◽  
Geometric Method ◽  
Reachable Workspace ◽  
3D Space ◽  
Simulation Results ◽  
Polyhedral Obstacles

SUMMARYThe paper presents a geometric method for collision-free manipulator path planning in 3D Euclidean space with polyhedral obstacles. It ensures that none of the links nor the manipulator tip collide with the objects. The method is computationally very cheap and it does not require intensive off-line preprocessing. Hence, it is real-time applicable if the information about obstacles positions and shapes is obtained from a higher control level. The trajectories generated lie within the reachable workspace. The method is implemented on a VAX 11/750 computer and the simulation results are included.

Autonomous Collision Imminent Steering Maneuver in Presence of Surrounding Obstacles

2016 ◽  
Author(s):  
Rouhollah Jafari ◽  
Shuqing Zeng ◽  
Nikolai Moshchuk
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Collision Avoidance ◽  
Geometric Method ◽  
Target Vehicle ◽  
Virtual Target ◽  
Planning Algorithm ◽  
Simulation Results ◽  
Collision Avoidance System ◽  
Path Planning Algorithm

In this paper, a collision avoidance system is proposed to steer away from a leading target vehicle and other surrounding obstacles. A virtual target lane is generated based on an object map resulted from perception module. The virtual target lane is used by a path planning algorithm for an evasive steering maneuver. A geometric method which is computationally fast for real-time implementations is employed. The algorithm is tested in real-time and the simulation results suggest the effectiveness of the system in avoiding collision with not only the leading target vehicle but also other surrounding obstacles.

scholarly journals A Bi-Level Probabilistic Path Planning Algorithm for Multiple Robots with Motion Uncertainty

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-16
Author(s):  
Jingchuan Wang ◽  
Ruochen Tai ◽  
Jingwen Xu
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Conflict Avoidance ◽  
System Efficiency ◽  
Multiple Robots ◽  
Time Performance ◽  
Planning Algorithm ◽  
Probabilistic Path Planning ◽  
Simulation Results ◽  
Path Planning Algorithm

For improving the system efficiency when there are motion uncertainties among robots in the warehouse environment, this paper proposes a bi-level probabilistic path planning algorithm. In the proposed algorithm, the map is partitioned into multiple interconnected districts and the architecture of proposed algorithm is composed of topology level and route level generating from above map: in the topology level, the order of passing districts is planned combined with the district crowdedness to achieve the district equilibrium and reduce the influence of robots under motion uncertainty. And in the route level, a MDP method combined with probability of motion uncertainty is proposed to plan path for all robots in each district separately. At the same time, the number of steps for each planning is dependent on the probability to decrease the number of planning. The conflict avoidance is proved, and optimization is discussed for the proposed algorithm. Simulation results show that the proposed algorithm achieves improved system efficiency and also has acceptable real-time performance.

Mobile Robot Design Based on Ant Colony Algorithm

2014 ◽  
Vol 484-485 ◽  
pp. 1134-1137
Author(s):  
Li Cai ◽  
Hong Xia Wu ◽  
Rong Zhang
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Real Time ◽  
Ant Colony Algorithm ◽  
Ant Colony ◽  
Robot Design ◽  
Simulation Results

This paper proposes a mobile robot design based on ant colony algorithm, aiming at how to achieve the optimization of path planning. Obstacle detecting and avoidance method for mobile robot are implemented with the photoelectric sensors. Then the ant colony algorithm for path planning is introduced and the simulation results in the software show that the method of introducing ant colony algorithm into mobile robot is convenient, feasible. By this means, the optimum problem is well resolved in real-time way during the running of mobile robot.

scholarly journals A geometric approach for follow-the-leader motion of serpentine manipulator

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987463 ◽  
Author(s):  
Haibo Xie ◽  
Cheng Wang ◽  
Shusen Li ◽  
Liang Hu ◽  
Huayong Yang
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Computation Time ◽  
Geometric Approach ◽  
Real Time Control ◽  
Time Control ◽  
The Ideal

This article presents a geometric approach for path planning of serpentine manipulator for real-time control in confined spaces. Firstly, the mechanical design of a serpentine manipulator is introduced, and its kinematics is analyzed. As the serpentine manipulator usually has more than 10 degrees of freedom, the motion control and obstacle avoidance are difficult considering its inverse kinematics. Follow-the-leader is an ideal path planning method for serpentine manipulator, as the manipulator moves forward, all the sections follow the path that the tip of manipulator has passed, which simplifies the obstacle avoidance. The realization of follow-the-leader method is to find the new configurations of the manipulator that can fit the ideal path with small errors. In this article, a novel geometric approach for follow-the-leader motion is proposed to solve new configurations with high precision of location and less computation time. The method is validated through simulation and the deviation from the ideal path is analyzed, simulation results show that calculation time for per step is less than 0.5 ms for a serpentine manipulator with 10 sections. To verify the follow-the-leader method, a 13-degree-of-freedom serpentine manipulator system with 6 sections was built, and 12 magnetic rotary encoders were embedded into the universal joints to collect data of rotation angles of each section. Experimental results show that the manipulator can carry out follow-the-leader motion as expected in real time.

Wheeled Robot Path Tracking Study Based on IMM Algorithm

2014 ◽  
Vol 1037 ◽  
pp. 228-231
Author(s):  
Li Cai ◽  
Jian Ping Jia
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Real Time ◽  
Path Tracking ◽  
Wheeled Mobile Robot ◽  
Robot Design ◽  
Matlab Software ◽  
Wheeled Robot ◽  
Simulation Results ◽  
Robot Path

This paper proposes a wheeled robot design based on IMM algorithm , aiming at how to achieve the optimization of path planning. Obstacle detecting and avoidance method for mobile robot are implemented with the photoelectric sensors. Then IMM algorithm for path planning is introduced and the simulation results in the MATLAB software show that the method of introducing IMM into mobile robot is convenient. By this means, the path planning is well optimized in real-time way for wheeled mobile robot.

scholarly journals A New Real-Time Path Planning Method Based on the Belief Space

2013 ◽  
Vol 2013 ◽  
pp. 1-14
Author(s):  
Yu-xin Zhao ◽  
Xin-an Wu ◽  
Yan Ma
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Basic Belief ◽  
Complex Environment ◽  
New Approach ◽  
Time Path ◽  
Local Path Planning ◽  
Simulation Results ◽  
Local Path ◽  
Belief Model

A new approach of real-time path planning based on belief space is proposed, which solves the problems of modeling the real-time detecting environment and optimizing in local path planning with the fusing factors. Initially, a double-safe-edges free space is defined for describing the sensor detecting characters, so as to transform the complex environment into some free areas, which can help the robots to reach any positions effectively and safely. Then, based on the uncertainty functions and the transferable belief model (TBM), the basic belief assignment (BBA) spaces of each factor are presented and fused in the path optimizing process. So an innovative approach for getting the optimized path has been realized with the fusing the BBA and the decision making by the probability distributing. Simulation results indicate that the new method is beneficial in terms of real-time local path planning.

scholarly journals Indoor Path-Planning Algorithm for UAV-Based Contact Inspection

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 642
Author(s):  
Luis Miguel González de Santos ◽  
Ernesto Frías Nores ◽  
Joaquín Martínez Sánchez ◽  
Higinio González Jorge
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Execution Time ◽  
Point Cloud ◽  
Indoor Environments ◽  
Calculation Algorithm ◽  
Time Restrictions ◽  
Planning Algorithm ◽  
Inspection Tasks ◽  
Path Planning Algorithm

Nowadays, unmanned aerial vehicles (UAVs) are extensively used for multiple purposes, such as infrastructure inspections or surveillance. This paper presents a real-time path planning algorithm in indoor environments designed to perform contact inspection tasks using UAVs. The only input used by this algorithm is the point cloud of the building where the UAV is going to navigate. The algorithm is divided into two main parts. The first one is the pre-processing algorithm that processes the point cloud, segmenting it into rooms and discretizing each room. The second part is the path planning algorithm that has to be executed in real time. In this way, all the computational load is in the first step, which is pre-processed, making the path calculation algorithm faster. The method has been tested in different buildings, measuring the execution time for different paths calculations. As can be seen in the results section, the developed algorithm is able to calculate a new path in 8–9 milliseconds. The developed algorithm fulfils the execution time restrictions, and it has proven to be reliable for route calculation.

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