Path Planning for Robot Manipulator based on Obstacle-Guided Path Refinement

被引：0
|
作者：
Atia, Mohamed G. B. [1 ]
Salah, Omar [2 ]
Fouly, Ahmed [3 ]
机构：
[1] Egypt Japan Univ Sci & Technol, Dept Mechatron & Robot Engn, Alexandria, Egypt
[2] Assiut Univ, Fac Engn, Dept Mech Engn, Asyut, Egypt
[3] Minia Univ, Fac Engn, Dept Prod Engn & Mech Design, Al Minya, Egypt
来源：
2019 58TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) | 2019年
关键词：
Path planning; Robot manipulator; Trajectory generation; ALGORITHM;
D O I：
10.23919/sice.2019.8859846
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The Path planning is essential in the field of robotics as robots require a fast algorithm to develop not only the shortest path but also free of collision with any obstacles. Therefore, this paper describes a novel path planning algorithm based on Obstacle-Guided Path Refinement (OGPR). To illustrate the benefits and performance of the new algorithm, a comparison is established between OGPR and A* based on implementation of the two algorithms with SCARA robot model. The results of this comparison show that OGPR algorithm over advantage A* in terms of the path length and the computational time.
引用
收藏
页码：437 / 442
页数：6
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