A Cell Mapping Method for General Optimum Trajectory Planning of Multiple Robotic Arms

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	A Cell Mapping Method for General Optimum Trajectory Planning of Multiple Robotic Arms
	Fei-Yue Wang; Paul J. A. Lever
发表期刊	Journal of Robotic and Autonomous Systems
	1994
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/173211/14901
专题	09年以前成果
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.