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
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Jingyi Zheng
作者单位Institute of Automation, Chinese Academy of Sciences
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 下载所有文件
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
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Jingyi Zheng]的文章
[Hao Lin]的文章
[Guodong Yang]的文章
百度学术
百度学术中相似的文章
[Jingyi Zheng]的文章
[Hao Lin]的文章
[Guodong Yang]的文章
必应学术
必应学术中相似的文章
[Jingyi Zheng]的文章
[Hao Lin]的文章
[Guodong Yang]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Path Planning for A Special Robot Working in Narrow Space.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。