A joint space technique for real time robot path planning

David Sanders, A Moore, Bing Lam Luk

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    An elegant and fast path planning system is presented. The main part of the system comprises a robot 'Path Planner' and 'Path Improver' containing a geometric model of the static environment and the robot. The robot structure is modelled as connected cylinders and spheres and the range of robot motion is quantised. To test the techniques a system was constructed that used a dynamic geometric 'World Model' updated by a vision system. Obstacles were placed in the path of a robot and the results are presented.
    Original languageEnglish
    Title of host publicationFifth International Conference on Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR
    Place of PublicationPiscataway
    PublisherIEEE
    Pages1683 - 1689
    ISBN (Print)0780300785
    DOIs
    Publication statusPublished - 1991
    EventFifth International Conference on Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR - Pisa, Italy
    Duration: 19 Jun 199122 Jun 1991

    Conference

    ConferenceFifth International Conference on Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR
    Country/TerritoryItaly
    CityPisa
    Period19/06/9122/06/91

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