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A Cell Mapping Method for General Optimum Trajectory Planning of Multiple Robotic Arms
Fei-Yue Wang; Paul J.A. Lever
1994
发表期刊Journal of Robotic and Autonomous Systems
卷号12期号:1页码:15-27
摘要
This paper proposes a method that uses cell state space and cell mapping based techniques for planning general optimum trajectories along given geometric paths for coordinated multiple robotic arm systems. The major advantages of this method include its simplicity and applicability to a wide range of problem formulations. In particular, three performance indices for optimum trajectory specification are investigated, i.e., minimum-energy, minimum-jerk, and minimum-time formulations. A simple search strategy is constructed using cell-to-cell mapping to find optimum trajectories. A special feature of this search algorithm is its ability to generate all optimum trajectories for all possible initial conditions through a single search. The computational complexity is analyzed for the search algorithm and its hierarchical implementation. Parallel execution of the hierarchical search method is discussed and the results indicate that it can improve the cell-mapping search efficiency significantly.
关键词Cell Mapping Computational Complexity Energy-optimal Trajectory Hierarchical Search Jerk-optimal Trajectory Multiple Arms Time-optimal Trajectory Trajectory Planning
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/14200
专题09年以前成果
通讯作者Fei-Yue Wang
推荐引用方式
GB/T 7714
Fei-Yue Wang,Paul J.A. Lever. A Cell Mapping Method for General Optimum Trajectory Planning of Multiple Robotic Arms[J]. Journal of Robotic and Autonomous Systems,1994,12(1):15-27.
APA Fei-Yue Wang,&Paul J.A. Lever.(1994).A Cell Mapping Method for General Optimum Trajectory Planning of Multiple Robotic Arms.Journal of Robotic and Autonomous Systems,12(1),15-27.
MLA Fei-Yue Wang,et al."A Cell Mapping Method for General Optimum Trajectory Planning of Multiple Robotic Arms".Journal of Robotic and Autonomous Systems 12.1(1994):15-27.
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