scholarly journals Fault-Tolerant Path Planning of the Space Manipulator with Single Joint Failure Based on the Dexterity Space

2018 ◽  
Vol 160 ◽  
pp. 05010
Author(s):  
Jia-Yi Tan ◽  
Gang Chen ◽  
Yu-Qi Wang
Keyword(s):  
Path Planning ◽  
Fault Tolerant ◽  
Planning Method ◽  
A Algorithm ◽  
Joint Failure ◽  
Space Manipulator

To enable the space manipulator to complete the original task efficiently after any single joint fails, a fault-tolerant path planning method for the manipulator with single joint failure is proposed based on dexterity space in this paper. On the base of solving the degraded workspace, the dexterity space of the manipulator with single joint failure is established by constructing the dexterity index, and then the traditional A* algorithm is improved to complete fault-tolerant path planning in the dexterity space. The correctness and validity of fault-tolerant path planning based on improved A* algorithm are verified by simulating experiments with 7R manipulator.

A Method of Ship’s Path Planning at Sea

2013 ◽  
Vol 321-324 ◽  
pp. 2038-2041
Author(s):  
Yuan Liang Zhang
Keyword(s):  
Information System ◽  
Path Planning ◽  
Planning Method ◽  
A Algorithm ◽  
Optimum Trajectory ◽  
Optimization Task ◽  
Route Design ◽  
Electronic Chart

Automatic route design will help to develop electronic chart intelligence, hence to improve safety, economy and reliability of the route. In the paper rasterizing charts are used to expressed the navigation environment of the ship and the modified A* algorithm is used to compute the near optimum trajectory of a ship in given environment based on electronic chart dispiay and information system (ECDIS). By tracing Safety contours, computing obstacle areas and taking into account certain boundaries of the manoeuvring region, the problem of avoiding collisions at sea was reduced to optimization task with static constrains. Simulation using MATLAB is conducted to verify the proposed ship path planning method. The good results show the promise of this method for ship at sea.

A Reasonable Path Planning via Path Energy Minimization

2014 ◽  
Vol 26 (2) ◽  
pp. 236-244 ◽  
Author(s):  
Masashi Yokozuka ◽  
◽  
Osamu Matsumoto
Keyword(s):  
Path Planning ◽  
Energy Minimization ◽  
Planning Method ◽  
Motion Prediction ◽  
A Algorithm ◽  
Near Misses ◽  
Shortest Distance ◽  
Path Switching ◽  
Dynamic Obstacle ◽  
Minimum Curvature

This paper presents a path planning method by path energy minimizing that enables mobile robots to move smoothly in the real world with optimizing path shape for shortest distance or minimum curvature. It also enables robots to travel safely toward a destination because pedestrian motion prediction is embedded in path planning. This path planning method is based on problems experienced in a robot competition called Tsukuba Challenge. The problems involved nonsmooth motion arising from finite path patterns in A* algorithm, stuck motion arising from frequently path switching, and near misses arising from nonpredictive planning. Our path planning method minimizes pathshape energy defined as the connection between path points. Minimizing energy provides smooth paths and avoids path switching. We propose a path planning method with prediction of dynamic obstacle motion embedded to avoid near misses. Experimental results showed improvements in solving these problems.

Path Planning for Ground Simulation Objiect Based on A* Algorithm

2012 ◽  
Vol 229-231 ◽  
pp. 2019-2024 ◽  
Author(s):  
Zhi Qiang Zhao ◽  
Zhi Hua Liu ◽  
Jia Xin Hao
Keyword(s):  
Path Planning ◽  
Large Scale ◽  
Optimal Path ◽  
Planning Method ◽  
Heuristic Function ◽  
A Algorithm

In the process of ground simulation object maneuver simulation in large-scale operation simulation, an efficient path planning method based on A*algorithm is proposed. By means of introducing all kind of geography factors and security factors into heuristic function, the plan reaching method solves the problem of finding an optimal path under acquiring enemy's situation and terrain data. Experiment results show that it has effectively raised path planning speed of A* algorithm and the scheme is practical and feasible.

scholarly journals Matlab-Realized Visual A* Path Planning Teaching Platform

2018 ◽  
Vol 13 (10) ◽  
pp. 196
Author(s):  
Mingfeng Luo
Keyword(s):  
Path Planning ◽  
Teaching Method ◽  
Search Space ◽  
Planning Method ◽  
Simulation Platform ◽  
Parameter Setting ◽  
A Algorithm ◽  
Teaching Platform ◽  
Multimedia Teaching ◽  
Algorithm Search

Path planning in the global known environment is one of the main prob-lems in the field of mobile robots. Based on the characteristics of A* search method, this paper designs a simulation platform which is visible during the op-eration process to achieve graphicalization of the A* algorithm search process. The simulation platform is implemented by Matlab GUI method, which provides multi-parameter setting function, and outputs the specific traversal process of the planning method in the search space into the RGB space. The results of applying simulation platform to the teaching environment shows that this platform can provide an intuitive description of the path planning method. By extracting sam-ple data from the actual audience, the simulation platform proposed in this paper is compared with the platformless dissemination method. The experimental re-sults show that the simulation platform given in this paper can effectively im-prove the dissemination effect of the conventional multimedia teaching method.

Autonomous Path Planning of Space Manipulator for Capturing a Target Using Visual Information

2016 ◽  
Author(s):  
Yingzi Guan ◽  
Chunlin Song ◽  
Huijuan Dong
Keyword(s):  
Environmental Factors ◽  
Path Planning ◽  
Motion Planning ◽  
Visual Information ◽  
Planning Method ◽  
Moving Target ◽  
Camera System ◽  
Space Manipulator ◽  
Stereo Camera

In this work, we present a fast and reliable motion planning method for a free-floating manipulator considering various complex environmental factors. The proposed method employs a stereo camera system and hand-eye camera as sensors to measure position of a moving target. Simulation carried out in this work demonstrated the proposed method.

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