CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Path Planning for A Special Robot Working in Narrow Space
Jingyi Zheng; Hao Lin; Guodong Yang; Li, En; Guibin Bian; Liang, Zize
2015-05
Conference NameProceedings of 27th Chinese Control and Decision Conference
Source PublicationIEEE CCDC2015
Conference Date23-25 May 2015
Conference PlaceQingdao, China
Abstract
    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.
KeywordHeuristic-based Planning Algorithm Obstacle Free Path Approaching Path Planning
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13007
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorJingyi Zheng
AffiliationInstitute of Automation, Chinese Academy of Sciences
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Jingyi Zheng,Hao Lin,Guodong Yang,et al. Path Planning for A Special Robot Working in Narrow Space[C],2015.
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