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

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dc.contributor.authorChien, Stanley Y. P., author
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorSheu, Philip C.-Y., author
dc.contributor.authorXue, Qing, author
dc.contributor.authorKluwer Academic Publishers, publisher
dc.date.accessioned2007-01-03T08:09:31Z
dc.date.available2007-01-03T08:09:31Z
dc.date.issued1996
dc.description.abstractIn 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.
dc.format.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationXue, Qing, et al., Planning of Collision-Free Paths for a Reconfigurable Dual Manipulator Equipped Mobile Robot, Journal of Intelligent and Robotic Systems 17, no. 3 (November 1996): 223-242.
dc.identifier.urihttp://hdl.handle.net/10217/67354
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©1996 Kluwer Academic Publishers.
dc.rightsCopyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.
dc.subjectpath planning
dc.subjectartificial intelligence
dc.subjectreconfigurable robot
dc.titlePlanning of collision-free paths for a reconfigurable dual manipulator equipped mobile robot
dc.typeText

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