Path Planning Based on Distance Transformation and Its VLSI Implementation

2000 ◽  
Vol 12 (5) ◽  
pp. 527-533 ◽  
Author(s):  
Masanori Hariyama ◽  
Michitaka Kameyama
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Collision Detection ◽  
Minimum Distance ◽  
Memory Architecture ◽  
Distance Transformation ◽  
Processing Elements ◽  
Configuration Selection ◽  
Robot Configuration ◽  
Selection Of

This paper presents a fast path planning method to find a feasible collision-free path. A collision-free path is searched for by iterations of selection of a robot configuration and collision detection for it. A most promising configuration is selected according to a minimum distance from every point in 3-D workspace and obstacles. The configuration selection keeps a robot as far away as possible from obstacles, and reduces the number of configurations for collision detection. Moreover, a highly-parallel processor based on logicin-memory architecture is proposed to overcome a transfer bottleneck between a memory and processing elements.

Offline decoupled path planning approach for effective coordination of multiple robots

Robotica ◽  
2009 ◽  
Vol 28 (4) ◽  
pp. 477-491 ◽  
Author(s):  
Shital S. Chiddarwar ◽  
N. Ramesh Babu
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Minimum Distance ◽  
Degrees Of Freedom ◽  
Multiple Robots ◽  
A Algorithm ◽  
Two Phase ◽  
Six Degrees Of Freedom ◽  
Planning Approach ◽  
End Effectors

SUMMARYIn this paper, a decoupled offline path planning approach for determining the collision-free path of end effectors of multiple robots involved in coordinated manipulation is proposed. The proposed approach for decoupled path planning is a two-phase approach in which the path for coordinated manipulation is generated with a coupled interaction between collision checking and path planning techniques. Collision checking is done by modelling the links and environment of robot using swept sphere volume technique and utilizing minimum distance heuristic for interference check. While determining the path of the end effector of robots involved in coordinated manipulation, the obstacles present in the workspace are considered as static obstacles and the links of the robots are viewed as dynamic obstacles by the other robot. Coordination is done in offline mode by implementing replanning strategy which adopts incremental A* algorithm for searching the collision-free path. The effectiveness of proposed decoupled approach is demonstrated by considering two examples having multiple six degrees of freedom robots operating in 3D work cell environment with certain static obstacles.

AUTOMATIC COLLISION DETECTION FOR ASSEMBLY SEQUENCE PLANNING USING A THREE-DIMENSIONAL SOLID MODEL

2011 ◽  
Vol 10 (02) ◽  
pp. 277-291 ◽  
Author(s):  
ALFADHLANI ◽  
T. M. A. ARI SAMADHI ◽  
ANAS MA'RUF ◽  
ISA SETIASYAH TOHA
Keyword(s):  
Free Path ◽  
Collision Detection ◽  
Three Dimensional ◽  
Assembly Sequence Planning ◽  
Detection Methods ◽  
Assembly Sequence ◽  
Sequence Planning ◽  
Assembly Sequences ◽  
Geometrical Data ◽  
Selection Of

Assembly sequence planning of a product involves several steps, including generation of precedence constraints, generation of assembly sequences, and selection of assembly sequences. Generation and selection of assembly sequences should be able to guarantee the feasibility of assembly. Assembly will be feasible if there is no collision between components when assembled. Detection of collision-free path of assembly can be done in an automated way. There are a number of collision detection methods that have been developed, but the method requires a complicated process of data geometry analysis. This paper proposes a method for detecting a collision-free path of the assembly component in a more simple way. Geometrical data required, taken from the three-dimensional (3D) solid drawing in the form of stacked drawing in computer-aided design (CAD) systems. Retrieval of geometrical data of components and detection of the collision-free path of an assembly were done in an automated way, directly from the CAD system.

A Spherical Hierarchical Representation for Robot Motion Planning

1991 ◽  
Author(s):  
Angel Pasqual del Pobil ◽  
Miguel A. Serna
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Free Path ◽  
Collision Detection ◽  
Spherical Model ◽  
Robot Motion ◽  
Robot Motion Planning ◽  
Simple Treatment ◽  
Practical Model ◽  
Solid Bodies

Abstract A simple and practical model with applications in 3D motion planning is presented. The new model is based on a double spherical hierarchy of detail to represent solid bodies. First, each element making up the robot and the obstacles is approximated by means of a set of exterior spheres which are automatically defined. Second, another set composed of interior spheres is generated. These representations define a hierarchy, since they can be redefined as many times as necessary: starting with two spheres per element, the approximation may be improved until it contains hundreds of spheres. Moreover, they converge to a zero-error representation. The proposed spherical model leads to a simple treatment for the problem of dynamic collision detection, and it is further applied to collision-free path planning for robot manipulators in 3D.

On Fast Computation of Minimum Distance Between Convex Polyhedrons: Application to Collision Detection in a Robotic Simulation System

1991 ◽  
Author(s):  
S. Zeghloul ◽  
P. Rambeaud ◽  
J. P. Lallemand
Keyword(s):  
Path Planning ◽  
Collision Detection ◽  
Minimum Distance ◽  
Simulation System ◽  
Fast Computation ◽  
Planning Systems ◽  
Convex Polyhedral ◽  
Robotic Simulation

Abstract In this paper, we suggest an algorithm which detects collisions based on the computation of the minimum distance between two convex polyhedrons. This algorithm can be used for simulations of robotic structure movement. It offers two advantages: first, it detects the collisions between two convex polyhedral shapes and secondly, if there is no collision, it calculates the distance between the solids. This information is of greatest importance for more advanced path planning systems which must not only detect collisions but also avoid them.

scholarly journals Collision-free path planning for welding manipulator via hybrid algorithm of deep reinforcement learning and inverse kinematics

2021 ◽  
Author(s):  
Jie Zhong ◽  
Tao Wang ◽  
Lianglun Cheng
Keyword(s):  
Reinforcement Learning ◽  
Path Planning ◽  
Free Path ◽  
Inverse Kinematics ◽  
Multiple Dimensions ◽  
Continuous State ◽  
Planning Algorithm ◽  
Convergence Performance ◽  
Path Planner ◽  
Action Spaces

AbstractIn actual welding scenarios, an effective path planner is needed to find a collision-free path in the configuration space for the welding manipulator with obstacles around. However, as a state-of-the-art method, the sampling-based planner only satisfies the probability completeness and its computational complexity is sensitive with state dimension. In this paper, we propose a path planner for welding manipulators based on deep reinforcement learning for solving path planning problems in high-dimensional continuous state and action spaces. Compared with the sampling-based method, it is more robust and is less sensitive with state dimension. In detail, to improve the learning efficiency, we introduce the inverse kinematics module to provide prior knowledge while a gain module is also designed to avoid the local optimal policy, we integrate them into the training algorithm. To evaluate our proposed planning algorithm in multiple dimensions, we conducted multiple sets of path planning experiments for welding manipulators. The results show that our method not only improves the convergence performance but also is superior in terms of optimality and robustness of planning compared with most other planning algorithms.

Path Planning for Spheres in Three Dimensional Environments With Low Interference Index

1994 ◽  
Author(s):  
Duane W. Storti ◽  
Debasish Dutta
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Configuration Space ◽  
Local Knowledge ◽  
Three Dimensional ◽  
Target Point ◽  
Planning Problem ◽  
Spherical Object ◽  
Starting Point ◽  
Path Planning Problem

Abstract We consider the path planning problem for a spherical object moving through a three-dimensional environment composed of spherical obstacles. Given a starting point and a terminal or target point, we wish to determine a collision free path from start to target for the moving sphere. We define an interference index to count the number of configuration space obstacles whose surfaces interfere simultaneously. In this paper, we present algorithms for navigating the sphere when the interference index is ≤ 2. While a global calculation is necessary to characterize the environment as a whole, only local knowledge is needed for path construction.

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