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Reactive approach to on-line path planning for robot manipulators in dynamic environments

Published online by Cambridge University Press:  24 June 2002

Margarita Mediavilla ,
José Luis González ,
Juan Carlos Fraile  and
José Ramón Perán
Margarita Mediavilla
Affiliation:
Departamento de Ingeniería de Sistemas y Automática, E.T.S.I.I., Universidad de Valladolid, Valladolid (Spain) marga@eis.uva.es
José Luis González
Affiliation:
Departamento de Ingeniería de Sistemas y Automática, E.T.S.I.I., Universidad de Valladolid, Valladolid (Spain) marga@eis.uva.es
Juan Carlos Fraile
Affiliation:
Departamento de Ingeniería de Sistemas y Automática, E.T.S.I.I., Universidad de Valladolid, Valladolid (Spain) marga@eis.uva.es
José Ramón Perán
Affiliation:
Departamento de Ingeniería de Sistemas y Automática, E.T.S.I.I., Universidad de Valladolid, Valladolid (Spain) marga@eis.uva.es
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Abstract

This paper describes a new approach to path planning of robot manipulators with many degrees of freedom. It is designed for on-line motion in dynamic and unpredictable environments. The robots react to moving obstacles using a local and reactive algorithm restricted to a subset of its configuration space. The lack of a long-term view of local algorithms (local minima problems) is solved using an off-line pre-planning stage that chooses the subset of the configuration space that minimises the probability of not finding collision free paths. The approach is implemented and tested on a system of three Scorbot-er IX five link robots.

Keywords

Path planningDynamic environmentsOn-line motionScorbot-er IX robots

Information

Type
Research Article
Information
Robotica , Volume 20 , Issue 4 , July 2002 , pp. 375 - 384
Copyright
© 2002 Cambridge University Press

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Footnotes

Part of this work was carried out while the first author wasvisiting Prof. Gupta at the robotics laboratory, Simon FraserUniversity, Canada. This work has been supported by the Comisión Interministerialde Ciencia y Tecnología. CICYT, TAP95/0092.