Algorithm Plans Collision-Free Path for Robotic Manipulator

TBMG-2197

09/01/2007

Abstract
Content

An algorithm has been developed to enable a computer aboard a robot to autonomously plan the path of the manipulator arm of the robot to avoid collisions between the arm and any obstacle, which could be another part of the robot or an external object in the vicinity of the robot. In simplified terms, the algorithm generates trial path segments and tests each segment for potential collisions in an iterative process that ends when a sequence of collision-free segments reaches from the starting point to the destination. The main advantage of this algorithm, relative to prior such algorithms, is computational efficiency: the algorithm is designed to make minimal demands upon the limited computational resources available aboard a robot.

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Citation
"Algorithm Plans Collision-Free Path for Robotic Manipulator," Mobility Engineering, September 1, 2007.
Additional Details
Publisher
Published
Sep 1, 2007
Product Code
TBMG-2197
Content Type
Magazine Article
Language
English