Reactive path planning for collaborative robot using configuration space skeletonization

2018 ◽  
Author(s):  
G. Fuseiller ◽  
R. Marie ◽  
G. Mourioux ◽  
E. Duno ◽  
O. Labbani-Igbida
Keyword(s):  
Path Planning ◽  
Configuration Space ◽  
Collaborative Robot

scholarly journals Safe Path Planning Algorithms for Mobile Robots Based on Probabilistic Foam

Sensors ◽  
2021 ◽  
Vol 21 (12) ◽  
pp. 4156
Author(s):  
Luís B. P. Nascimento ◽  
Dennis Barrios-Aranibar ◽  
Vitor G. Santos ◽  
Diego S. Pereira ◽  
William C. Ribeiro ◽  
...  
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Configuration Space ◽  
Autonomous Robot ◽  
Breadth First Search ◽  
Propagation Process ◽  
Robot Systems ◽  
And Performance ◽  
Safe Path ◽  
High Clearance

The planning of safe paths is an important issue for autonomous robot systems. The Probabilistic Foam method (PFM) is a planner that guarantees safe paths bounded by a sequence of structures called bubbles that provides safe regions. This method performs the planning by covering the free configuration space with bubbles, an approach analogous to a breadth-first search. To improve the propagation process and keep the safety, we present three algorithms based on Probabilistic Foam: Goal-biased Probabilistic Foam (GBPF), Radius-biased Probabilistic Foam (RBPF), and Heuristic-guided Probabilistic Foam (HPF); the last two are proposed in this work. The variant GBPF is fast, HPF finds short paths, and RBPF finds high-clearance paths. Some simulations were performed using four different maps to analyze the behavior and performance of the methods. Besides, the safety was analyzed considering the new propagation strategies.

Path Planning for Spheres in Three Dimensional Environments With Low Interference Index

1994 ◽  
Author(s):  
Duane W. Storti ◽  
Debasish Dutta
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Configuration Space ◽  
Local Knowledge ◽  
Three Dimensional ◽  
Target Point ◽  
Planning Problem ◽  
Spherical Object ◽  
Starting Point ◽  
Path Planning Problem

Abstract We consider the path planning problem for a spherical object moving through a three-dimensional environment composed of spherical obstacles. Given a starting point and a terminal or target point, we wish to determine a collision free path from start to target for the moving sphere. We define an interference index to count the number of configuration space obstacles whose surfaces interfere simultaneously. In this paper, we present algorithms for navigating the sphere when the interference index is ≤ 2. While a global calculation is necessary to characterize the environment as a whole, only local knowledge is needed for path construction.

scholarly journals Path planning and the topology of configuration space

1993 ◽  
Vol 9 (4) ◽  
pp. 444-456 ◽  
Author(s):  
A.A. Maciejewski ◽  
J.J. Fox
Keyword(s):  
Path Planning ◽  
Configuration Space

Computing the Configuration Space for Tracing Paths Between Assembly Modes

2010 ◽  
Vol 2 (3) ◽  
Author(s):  
Mónica Urízar ◽  
Víctor Petuya ◽  
Oscar Altuzarra ◽  
Erik Macho ◽  
Alfonso Hernández
Keyword(s):  
Path Planning ◽  
Range Of Motion ◽  
Configuration Space ◽  
Graphical Representation ◽  
Parallel Manipulators ◽  
Descriptive Study ◽  
General Methodology ◽  
Input And Output ◽  
All Solutions ◽  
Three Degree Of Freedom

In this paper, the authors present a general methodology for computing the configuration space for three-degree-of-freedom parallel manipulators so that the relation between input and output variables can be easily assessed. Making use of an entity called the reduced configuration space, all solutions of the direct kinematic problem in parallel manipulators are solved. The graphical representation of this entity enables the location of the direct kinematic solutions to be analyzed so as to make use of a wider operational workspace by means of path planning. A descriptive study is presented regarding the diverse possible paths that allow changing between direct kinematic solutions, thus, enlarging the manipulator’s range of motion.

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