Robot Path Planning and Obstacle Avoidance: A Design Optimization Approach

1989 ◽  
Author(s):  
E. Sandgren ◽  
S. Venkataraman
Keyword(s):  
Path Planning ◽  
Design Optimization ◽  
Dynamic Programming Algorithm ◽  
Three Dimensional ◽  
Programming Algorithm ◽  
Optimization Approach ◽  
Robot Arm ◽  
Robot Path Planning ◽  
Real Time Control ◽  
Robot Path

Abstract A design optimization approach to robot path planning in a two dimensional workplace is presented. Obstacles are represented as a series of rectangular regions and collision detection is performed by an operation similar to clipping in computer graphics. The feasible design space is approximated by a discrete set of robot arm and gripper positions. Control is applied directly through the angular motion of each link. Feasible positions which are located between the initial and final robot link positions are grouped into stages. A dynamic programming algorithm is applied to locate the best state within each stage which minimizes the overall path length. An example is presented involving a three link planar manipulator. Extensions to three dimensional robot path planning and real time control in a dynamically changing workplace are discussed.

Robot Path Planning via Simulated Annealing: A Near Real Time Approach

1989 ◽  
Author(s):  
E. Sandgren ◽  
S. Venkataraman
Keyword(s):  
Simulated Annealing ◽  
Path Planning ◽  
Real Time ◽  
Angular Position ◽  
Three Dimensional ◽  
Solution Procedure ◽  
Robot Arm ◽  
Robot Path Planning ◽  
Real Time Control ◽  
Robot Path

Abstract An efficient procedure for near optimal robot path planning in a two dimensional workplace is presented. Obstacles are represented as a series of rectangular regions which allows collision detection to be performed by an operation similar to clipping in computer graphics. The feasible design space is approximated by a discrete set of robot arm and gripper positions. A control sequence of the angular position of each link is determined. A set of intermediate link positions are generated and grouped into stages. A dynamic programming problem is formulated to locate the best state within each stage which minimizes the overall path length. A simulated annealing solution procedure is implemented in order to locate a reasonable solution in the minimum amount of time. Several examples are presented involving a three link planar manipulator. Extensions to three dimensional robot path planning and real time control in a dynamically changing workplace are discussed.

Three Dimensional Robot Path Planning With Workspace Considerations

1992 ◽  
Author(s):  
C. Y. Liu ◽  
R. W. Mayne
Keyword(s):  
Path Planning ◽  
Three Dimensional ◽  
Optimization Methods ◽  
Planning Problem ◽  
Robot Path Planning ◽  
Recursive Quadratic Programming ◽  
Six Degree Of Freedom ◽  
Nonlinear Programming Method ◽  
Path Planning Problem ◽  
Robot Path

Abstract This paper considers the problem of robot path planning by optimization methods. It focuses on the use of recursive quadratic programming (RQP) for the optimization process and presents a formulation of the three dimensional path planning problem developed for compatibility with the RQP selling. An approach 10 distance-to-contact and interference calculations appropriate for RQP is described as well as a strategy for gradient computations which are critical to applying any efficient nonlinear programming method. Symbolic computation has been used for general six degree-of-freedom transformations of the robot links and to provide analytical derivative expressions. Example problems in path planning are presented for a simple 3-D robot. One example includes adjustments in geometry and introduces the concept of integrating 3-D path planning with geometric design.

Dynamic direct subspaces for robot path planning

Robotica ◽  
1987 ◽  
Vol 5 (1) ◽  
pp. 29-36 ◽  
Author(s):  
W. E. Red ◽  
K. H. Kim
Keyword(s):  
Path Planning ◽  
Machine Tools ◽  
Three Dimensional ◽  
Joint Space ◽  
Automated Guided Vehicles ◽  
Robot Path Planning ◽  
Configuration Point ◽  
Dynamic Objects ◽  
Robot Configuration ◽  
Robot Path

SUMMARYA direct subspace of a dynamic three-dimensional joint space is found to be useful for robot path planning in workspaces comprised of both static and dynamic objects. Dynamic descriptions permit positioning tables, automated guided vehicles, conveyors and cycling machine tools to be modeled by elements which translate or cycle along rectilinear paths. Graphical path planning procedures use cursor indicators to move the robot configuration point between the desired starting and final configurations while avoiding both the static and dynamic joint space obstacles.

Two Robot Arm Cooperative Path Planning Using String Stretching

1991 ◽  
Author(s):  
Francis Schima ◽  
Stephen Derby
Keyword(s):  
Path Planning ◽  
Risk Control ◽  
Space Station ◽  
Great Distance ◽  
Robot Arm ◽  
Robot Path Planning ◽  
Speed Of Light ◽  
Robot Arms ◽  
General Movement ◽  
Robot Path

Abstract Two arm robot path planning has many applications. Potential uses of 2 arm robot path planning include terrestrial and space based construction, and general movement of objects. The U.S. space station will most likely be built using robots so that humans do not have to be put into space regularly at great expense and risk. Control of robots from Earth via telerobotics is not practical because the robots will be so far away that there is a delay in the signals due to the great distance between the robots and the controllers and the fact that the signals are limited by the speed of light. The robot arms could also be controlled remotely from space, but only one at a time could be controlled and thus many people would need to be sent up to control all of the robots. One pair of robot arms can replace one human to manually build a structure. However, there would not be any savings in the number of humans sent into space because each pair of robot arms would require a human operator in space. Thus the robot arms should be autonomous or at least semi-autonomous to reduce the number of humans required in space for construction of the space station.

A real-time path planning approach without the computation of Cspace obstacles

Robotica ◽  
2004 ◽  
Vol 22 (2) ◽  
pp. 173-187 ◽  
Author(s):  
Yongji Wang ◽  
Liu Han ◽  
Mingshu Li ◽  
Qing Wang ◽  
Jinhui Zhou ◽  
...  
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Early Stage ◽  
Optimization Technique ◽  
Three Dimensional ◽  
Robot Path Planning ◽  
Research Experiences ◽  
3D Objects ◽  
Planning Approach ◽  
Robot Path

An important concept proposed in the early stage of robot path planning field is the shrinking of the robot to a point and meanwhile expanding of the obstacles in the workspace as a set of new obstacles. The resulting grown obstacles are called the Configuration Space (Cspace) obstacles. The find-path problem is then transformed into that of finding a collision free path for a point robot among the Cspace obstacles. However, the research experiences obtained so far have shown that the calculation of the Cspace obstacles is very hard work when the following situations occur: 1. both the robot and obstacles are not polygons and 2. the robot is allowed to rotate. This situation is even worse when the robot and obstacles are three dimensional (3D) objects with various shapes. Obviously a direct path planning approach without the calculation of the Cspace obstacles is strongly needed. This paper presents such a new real-time robot path planning approach which, to the best of our knowledge, is the first one in the robotic community. The fundamental ideas are the utilization of inequality and optimization technique. Simulation results have been presented to show its merits.

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