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A real-time motion planning algorithm for a hyper-redundant set of mechanisms

Published online by Cambridge University Press:  11 June 2013

Nir Shvalb ,
Boaz Ben Moshe  and
Oded Medina
Nir Shvalb*
Affiliation:
Mechanical Engineering, Ariel University, Ariel, Israel
Boaz Ben Moshe
Affiliation:
Computer Science, Ariel University, Ariel, Israel
Oded Medina
Affiliation:
Industrial Engineering, Ariel University, Ariel, Israel
*
*Corresponding author. E-mail: odedmedina@gmail.com
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Summary

We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space ${\EuScript C}$. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace ${\EuScript O}$. We define a varying potential field f on ∂${\EuScript O}$ as a Morse function and follow $\vec{\nabla} f$. We then exemplify our algorithm on a redundant worm climbing robot with n degrees of freedom and compare our algorithm running results with those of the PRM.

Keywords

Motion planningPath planningRedundant manipulatorsOpen chainSerial manipulator design and kinematicsLegged robotsClimbing robots

Information

Type
Articles
Information
Robotica , Volume 31 , Issue 8 , December 2013 , pp. 1327 - 1335
Copyright
Copyright © Cambridge University Press 2013 

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