Real-Time Collision-Free Path Planning for Robots in Configuration Space  

作　　者：李伟 张钹 

机构地区：[1]DepartmentofComputerScience,TsinghuaUniversity,Beijing100084

出　　处：《Journal of Computer Science & Technology》1994年第1期37-52,共16页计算机科学技术学报（英文版）

摘　　要：Collision-free path planning for an industrtal robot in configuration space requires mapping obstacles from robot's workspace into its configuration space. In this paper ,an approach to real-time collision-free path planning for robots in configuration space is presented. Obstacle mapping is carried out by fundamental obstacles defined in the workspace and their images in the configuration space. In order to avoid dealing with unimportant parts of the configuration space that do not thect searching a collision-free path between starting and goal configurations, we construct a free subspace by slice configuration obstacles. In this free subspace, the collision-free path is determined by the A algorithm. Finally, graphical simulations show the effectiveness of the proposed approach.Collision-free path planning for an industrtal robot in configuration space requires mapping obstacles from robot's workspace into its configuration space. In this paper ,an approach to real-time collision-free path planning for robots in configuration space is presented. Obstacle mapping is carried out by fundamental obstacles defined in the workspace and their images in the configuration space. In order to avoid dealing with unimportant parts of the configuration space that do not thect searching a collision-free path between starting and goal configurations, we construct a free subspace by slice configuration obstacles. In this free subspace, the collision-free path is determined by the A algorithm. Finally, graphical simulations show the effectiveness of the proposed approach.

关 键 词：Motion planning collision avoidance ROBOTICS graphical simulation 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]