CASIA OpenIR
A sampling-based optimized algorithm for task-constrained motion planning
Mi, Kai1,2; Zhang, Haojian1,2; Zheng, Jun1; Hu, Jianhua1; Zhuang, Dengxiang1,2; Wang, Yunkuan1
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8814
2019-05-07
Volume16Issue:3Pages:15
Corresponding AuthorZheng, Jun(jun.zheng@ia.ac.cn)
AbstractWe consider a motion planning problem with task space constraints in a complex environment for redundant manipulators. For this problem, we propose a motion planning algorithm that combines kinematics control with rapidly exploring random sampling methods. Meanwhile, we introduce an optimization structure similar to dynamic programming into the algorithm. The proposed algorithm can generate an asymptotically optimized smooth path in joint space, which continuously satisfies task space constraints and avoids obstacles. We have confirmed that the proposed algorithm is probabilistically complete and asymptotically optimized. Finally, we conduct multiple experiments with path length and tracking error as optimization targets and the planning results reflect the optimization effect of the algorithm.
KeywordRedundant manipulators task space constraints path planning sampling based asymptotically optimization
DOI10.1177/1729881419847378
WOS KeywordKINEMATIC CONTROL
Indexed BySCI
Language英语
Funding ProjectMajor Science and Technology Project of Henan Province[161100210300]
Funding OrganizationMajor Science and Technology Project of Henan Province
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000467615300001
PublisherSAGE PUBLICATIONS INC
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/24580
Collection中国科学院自动化研究所
Corresponding AuthorZheng, Jun
Affiliation1.Chinese Acad Sci, Intelligent Mfg Technol & Syst Res Ctr, Inst Automat, Zhongguancun East Rd 95, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing, Peoples R China
Recommended Citation
GB/T 7714
Mi, Kai,Zhang, Haojian,Zheng, Jun,et al. A sampling-based optimized algorithm for task-constrained motion planning[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2019,16(3):15.
APA Mi, Kai,Zhang, Haojian,Zheng, Jun,Hu, Jianhua,Zhuang, Dengxiang,&Wang, Yunkuan.(2019).A sampling-based optimized algorithm for task-constrained motion planning.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,16(3),15.
MLA Mi, Kai,et al."A sampling-based optimized algorithm for task-constrained motion planning".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 16.3(2019):15.
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