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A joint space technique for real time robot path planning

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

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
CountryItaly
CityPisa
Period19/06/9122/06/91
Relations Get citation (various referencing formats)

ID: 1847570