Autonomous Rectilinear Motion Planning for a Spatial Robot: Path Planning for a Spatial 4R Manipulator With a Single Spherical Obstacle Inside the Workspace

1992 ◽  
Vol 114 (4) ◽  
pp. 559-563 ◽  
Author(s):  
Menq-Dar Shieh ◽  
J. Duffy
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Free Path ◽  
Efficient Algorithm ◽  
Rectilinear Motion ◽  
Robot Path Planning ◽  
End Effector ◽  
Truncated Pyramid ◽  
Robot Path

This is the first of a series of papers dealing with the path planning for a spatial 4R robot with multiple spherical obstacles inside the workspace. In this paper, a time efficient algorithm has been developed to determine a collision free path for the end effector tip of the robot with a single spherical obstacle inside the workspace. A truncated pyramid and a right circular torus are used to model the nonreachable workspaces of the end effector tip of the robot. The problem of guiding the spatial 4R manipulator while avoiding a spherical obstacle is reduced to moving a point while avoiding a truncated pyramid and/or a right circular torus inside the workspace. The point represents the tip of the end effector of the manipulator. This approach produces an efficient algorithm for determining a collision free path. The algorithm has been successfully developed and implemented in the Silicon Graphics 4D-70GT workstation to verify the results.

An Efficient Algorithm to Determine the Intersection of Simple Polygons for Robot Path Planning

1996 ◽  
Author(s):  
S. Miao ◽  
D. Howard
Keyword(s):  
Path Planning ◽  
Efficient Algorithm ◽  
Robot Path Planning ◽  
Simple Polygons ◽  
Clockwise Direction ◽  
Robot Path

Abstract This paper presents an efficient algorithm for determining the intersection of two simple polygons. The proposed algorithm is based on the idea of searching for the vertices of the intersection polygon vertex by vertex along the boundary in a clockwise direction. This method finds the intersection polygon vertices and their order in one pass. The algorithm almost eliminates the need for testing whether candidate vertices are inside both polygons and the sorting stage is no longer needed.

scholarly journals Mobile Robot Path Planning Method Using Firefly Algorithm for 3D Sphere Dynamic & Partially Known Environment

2018 ◽  
Vol 26 (7) ◽  
pp. 309-320 ◽  
Author(s):  
Alia Karim Abdul Hassan ◽  
Duaa Jaafar Fadhil
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Free Path ◽  
Firefly Algorithm ◽  
Three Dimensional ◽  
Planning Method ◽  
Dimensional Sphere ◽  
Robot Path Planning ◽  
Safe Navigation ◽  
Robot Path

 In this paper, a new method is proposed to solve the problem of path planning for a mobile robot in a dynamic-partially knew three-dimensional sphere environment by using a modified version of the Firefly Algorithm that successfully finds near optimal and collision-free path while maintaining quick, easy and completely safe navigation throughout the path to the goal.

scholarly journals Mobile robot path planning in dynamic environment based on cuckoo optimization algorithm

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983957 ◽  
Author(s):  
Seyedhadi Hosseininejad ◽  
Chitra Dadkhah
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Free Path ◽  
Optimization Algorithm ◽  
Dynamic Environment ◽  
Planning Problem ◽  
Robot Path Planning ◽  
Cuckoo Optimization Algorithm ◽  
Starting Point ◽  
Robot Path

Nowadays, the usage of autonomous mobile robots that fulfill various activities in enormous number of applications without human’s interference in a dynamic environment are thriving. A dynamic environment is the robot’s environment which is comprised of some static obstacles as well as several movable obstacles that their quantity and location change randomly through the time. Efficient path planning is one the significant necessities of these kind of robots to do their tasks effectively. Mobile robot path planning in a dynamic environment is finding a shortest possible path from an arbitrary starting point toward a desired goal point which needs to be safe (obstacle avoidance) and smooth as well as possible. To achieve this target, simultaneously satisfying a collection of certain constraints including the shortest, smooth, and collision free path is required. Therefore, this issue can be considered as an optimization problem, consequently solved via optimization algorithms. In this article, a new method based on cuckoo optimization algorithm is proposed for solving the mobile robot path planning problem in a dynamic environment. Furthermore, to diminish the computational complexity, the feature vector is also optimized (i.e. reduced in dimension) via a new proposed technique. The simulation results show the performance of proposed algorithm in finding a short, safe, smooth, and collision free path in different environment conditions.

Numerical Potential Field Techniques for Robot Path Planning.

1989 ◽  
Author(s):  
Jerome Barraquand ◽  
Bruno Langlois ◽  
Jean-Claude Latombe
Keyword(s):  
Path Planning ◽  
Potential Field ◽  
Robot Path Planning ◽  
Field Techniques ◽  
Robot Path
Sign in / Sign up

Export Citation Format

Share Document