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Planning of collision-free paths for a reconfigurable dual manipulator equipped mobile robot

Date

1996

Authors

Chien, Stanley Y. P., author
Maciejewski, Anthony A., author
Sheu, Philip C.-Y., author
Xue, Qing, author
Kluwer Academic Publishers, publisher

Journal Title

Journal ISSN

Volume Title

Abstract

In this paper, we study the problem of finding a collision-free path for a mobile robot which possesses manipulators. The task of the robot is to carry a polygonal object from a starting point to a destination point in a possibly culttered environment. In most of the existing research on robot path planning, a mobile robot is approximated by a fixed shape, i.e., a circle or a polygon. In our task planner, the robot is allowed to change configurations for avoiding collision. This path planner operates using two algorithms: the collision-free feasible configuration finding algorithm and the collision-free path finding algorithm. The collision-free feasible configuration finding algorithm finds all collision-free feasible configurations for the robot when the position of the carried object is given. The collision-free path finding algorithm generates some candidate paths first and then uses a graph search method to find a collision-free path from all the collision-free feasible configurations along the candidate paths. The proposed algorithms can deal with a cluttered environment and is guaranteed to find a solution if one exists.

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Subject

path planning
artificial intelligence
reconfigurable robot

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