A real-time motion planning algorithm for a hyper-redundant set of mechanisms
Keyword(s):
Road Map
◽
SUMMARYWe introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space${\EuScript C}$. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace${\EuScript O}$. We define a varying potential fieldfon ∂${\EuScript O}$as a Morse function and follow$\vec{\nabla} f$. We then exemplify our algorithm on a redundant worm climbing robot withndegrees of freedom and compare our algorithm running results with those of the PRM.
2016 ◽
Vol 2016
(0)
◽
pp. 2P2-04a4
Keyword(s):
Keyword(s):
2021 ◽
Vol 8
(1)
◽
pp. 42
Keyword(s):
Keyword(s):
2016 ◽
Vol 40
(3)
◽
pp. 383-397
◽