Evaluation of a new backtrack free path planning algorithm for multi-arm manipulators

被引：0
|
作者：
Islam, Md. Nazrul [1 ]
Murata, Tomoya [1 ]
Tamura, Shinsuke [1 ]
Yanase, Tatsuro [1 ]
机构：
[1] Univ Fukui, Fac Engn, 3-9-1,Bunkyo, Fukui 910, Japan
来源：
SYSTEMS MODELING AND SIMULATION: THEORY AND APPLICATIONS, ASIA SIMULATION CONFERENCE 2006 | 2007年
关键词：
backtrack free; path planning; manipulator; off-line; real-time;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper evaluates a newly proposed back track free path planning algorithm for Multi-Arm Manipulators. To reduce computation volume and enable path planning for manipulators with many arms, the proposed algorithm calculates paths that avoid obstacles by searching Euclidean space directly. The performance of the algorithm is evaluated while changing the number of arms and obstacles, and location of obstacles. In the experiment, collision free paths were found within less than few seconds. The computation volume of the algorithm is almost the same as the theoretical one even for complicated cases.
引用
收藏
页码：133 / +
页数：2
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