Motion planning for robot manipulators among moving obstacles based on trajectory analysis and waiting strategy

2008 ◽  
Author(s):  
Yan Li ◽  
Hong Liu ◽  
Ding Ding
Keyword(s):  
Motion Planning ◽  
Trajectory Analysis ◽  
Robot Manipulators ◽  
Moving Obstacles ◽  
Waiting Strategy

Energy-Optimal Multi-Goal Motion Planning for Planar Robot Manipulators

2014 ◽  
Vol 163 (1) ◽  
pp. 80-104 ◽  
Author(s):  
Pierre Bonami ◽  
Alberto Olivares ◽  
Ernesto Staffetti
Keyword(s):  
Motion Planning ◽  
Robot Manipulators ◽  
Planar Robot

Motion Planning of Mobile Robots for Occluded Obstacles

2018 ◽  
Vol 30 (3) ◽  
pp. 485-492
Author(s):  
Satoshi Hoshino ◽  
◽  
Tomoki Yoshikawa
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Dynamic Environments ◽  
Simulation Experiments ◽  
Moving Obstacles ◽  
Moving Direction ◽  
Velocity Obstacle

Motion planning of mobile robots for occluded obstacles is a challenge in dynamic environments. The occlusion problem states that if an obstacle suddenly appears from the occluded area, the robot might collide with the obstacle. To overcome this, we propose a novel motion planner, the Velocity Obstacle for occlusion (VOO). The VOO is based on a previous motion planner, the Velocity Obstacle (VO), which is effective for moving obstacles. In the proposed motion planner, information uncertainties about occluded obstacles, such as position, velocity, and moving direction, are quantitatively addressed. Thus, the robot based on the VOO is able to move not only among observed obstacles, but also among the occluded ones. Through simulation experiments, the effectiveness of the VOO for the occlusion problem is demonstrated by comparison with the VO.

Sign in / Sign up

Export Citation Format

Share Document