Hostname: page-component-89b8bd64d-mmrw7 Total loading time: 0 Render date: 2026-05-09T13:12:33.736Z Has data issue: false hasContentIssue false
  • English
  • Français

Computer simulation of sensor-based robot collision avoidance in an unknown environment*

Published online by Cambridge University Press:  09 March 2009

K. Sun  and
V. Lumelsky
K. Sun
Affiliation:
Yale University, Department of Electrical Engineering, New Haven, Connecticut 06520, (USA)
V. Lumelsky
Affiliation:
Yale University, Department of Electrical Engineering, New Haven, Connecticut 06520, (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

Computer simulation is a major tool in validation of robot motion planning systems, since, on the one hand, underlying theory of algorithms typically requires questionable assumptions and simplifications, and, on the other hand, experiments with hardware are necessarily limited by available resources and time. This is especially true when the motion planning system in question is based on sensor feedback and the generated trajectory is, therefore, unpredictable. This paper describes a simulation system ROPAS (for RObot PAth Simulation) for testing one approach — called Dynmic Path Planning (DPP) — to sensor-based robot collision avoidance in an environment with unknown obstacles. Using real time graphics animation of the motion planning system, the user can simulate the behavior of an autonomous vehicle or a robot arm manipulator with a fixed base. The overall structure of the system is described, and examples are presented.

Keywords

AvoidanceCollisionRobotsSimulationSensor

Information

Type
Article
Information
Robotica , Volume 5 , Issue 4 , October 1987 , pp. 291 - 302
Copyright
Copyright © Cambridge University Press 1987

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Schwartz, J.T. and Sharir, M., “On the “Piano Movers” Problem. I. The Case of a Two-Dimensional Rigid Polygonal Body Moving Amidst Polygonal Barriers” Comm. on Pure and Applied Mathematics 34, 345–398 (1983).CrossRefGoogle Scholar
2.Udupa, S.M., “Collision Detection and Avoidance in Computer Controlled Manipulators” Proceedings of IJCAI–5, 737–748, Cambridge, Mass. (08 1977).Google Scholar
3.Lozano-Perez, T., “Automatic Planning of Manipulator Transfer Movements” IEEE Transactions on Systems, Man, and Cybernetics SMC-11, No. 10, 681–698 (10, 1981).Google Scholar
4.Brooks, R.A., “Solving the Find-Path Problem by Good Representation of Free Space” IEEE Transactions on Systems, Man, and Cybernetics T-SMC-13, 190–884 (03/04, 1983).Google Scholar
5.Moravec, H., “The Standford Cart and the CMU Rover,” Proc. of the IEEE 71, No. 7, 872–884 (07, 1983).CrossRefGoogle Scholar
6.Schwartz, J.T. and Sharir, M., “On the “Piano Movers” Problem. II. General Techniques for Computing Topological Properties of Real Algebraic Manifolds” Advances in Applied Mathematics 4, 298–351 (1983).CrossRefGoogle Scholar
7.Hopcroft, J., Joseph, D. and Whitesides, S., “On the Movement of Robot Arms in 2-Dimensional Bounded Regions,” Proc. of the IEEE Foundations of Computer Science Conference280–289, Chicago (11, 1982).CrossRefGoogle Scholar
8.Lumelsky, V.J., “Continuous Robot Motion Planning in Unknown Environment,” In: Adaptive and Learning Systems: Theory and Applications (ed. Narendra, K.) (Premium-Press, 1986) pp. 339–358.CrossRefGoogle Scholar
9.Lumelsky, V.J. and Stepanov, A.A., “Dynamic Path Planning for a mobile Automation with Limited Information on the Environment,” IEEE Transactions on Automatic Control AC-31, No. 11, 1058–1063 (11, 1986).CrossRefGoogle Scholar
10.Lumelsky, V.J., “On Non-Heuristic Motion Planning in Unknown Environment,” Proc. of the IFAC Symposium on Robot Control, 257–262, Barcelona, Spain (11, 1985).Google Scholar
11.Lumelsky, V.J., “Dynamic Path Planning for a Planar Articulated Robot Arm Moving Amidst Unknown Obstacles” Automatica (to appear, 1987).CrossRefGoogle Scholar
12.Lumelsky, V.J., “Effect of Kinematics on Dynamic Path Planning for Planar Robot Arms Moving Amidst Unknown Obstacles” IEEE Journal of Robotics and Automation (to appear, 1987).CrossRefGoogle Scholar
13.Bronshtein, I.N. and Semendyayev, K.A., Handbook of Mathematics (Van Nostrand Reinhold Company, 1985).Google Scholar
14.Paul, R., Robot Manipulators (MIT Press, 1981) p. 41.Google Scholar
15.Lee, D.T. and Preparata, P.P., “Computational Geometry – A Survey” IEEE Transactions on Computers C-33, No. 12, 1072–1101 (12, 1984).CrossRefGoogle Scholar