Knowledge Commons of Institute of Automation,CAS
Path Planning for A Special Robot Working in Narrow Space | |
Jingyi Zheng; Hao Lin; Guodong Yang; Li, En; Guibin Bian; Liang, Zize | |
2015-05 | |
会议名称 | Proceedings of 27th Chinese Control and Decision Conference |
会议录名称 | IEEE CCDC2015 |
会议日期 | 23-25 May 2015 |
会议地点 | Qingdao, China |
摘要 |
This paper has designed a special robot working in a narrow space. Planning an appropriate path is one of the significant problems. In this paper, a mathematical expression of the G value considering obstacles in the environment based on A* algorithm in low-dimensionality is proposed. The algorithm is a approaching path planning algorithm in static, known environments. We plan the path of the end-effector after it moves near the obstacles. As only the end-effector changes drastically, it is safe for other joints working in the collision environment if the other joints are obtained using inverse kinematics. The simulation result validates the effectiveness of our algorithm. |
关键词 | Heuristic-based Planning Algorithm Obstacle Free Path Approaching Path Planning |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/13007 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Jingyi Zheng |
作者单位 | Institute of Automation, Chinese Academy of Sciences |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Jingyi Zheng,Hao Lin,Guodong Yang,et al. Path Planning for A Special Robot Working in Narrow Space[C],2015. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Path Planning for A (337KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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