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.

Motion Planning of Biped Robot Equipped with Stereo Camera Using Grid Map

2011 ◽  
Vol 5 (5) ◽  
pp. 639-647 ◽  
Author(s):  
Atsushi Yamashita ◽  
◽  
Masaaki Kitaoka ◽  
Toru Kaneko ◽  
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Obstacle Avoidance ◽  
Biped Robot ◽  
Camera System ◽  
Biped Robots ◽  
Distance Information ◽  
Stereo Camera ◽  
Grid Map ◽  
Surrounding Environment

Recognizing its surroundings is important for biped robots seeking a destination. In this paper, we propose a motion planning method of a biped robot including path planning and obstacle avoidance. The robot obtains distance information on its surrounding environment from images captured by a stereo camera system, and generates a 3D map, then, builds a 2D grid map that locates flat floor regions, obstacle regions, bump regions, gate regions, and un-measured regions to decide its path by using the 2D grid map. Experimental results confirm the effectiveness of the proposed method.

The Visual Information Derived From the Stereo Camera System Mounted on the Underwater Vehicle

2010 ◽  
Author(s):  
Shojiro Ishibashi ◽  
Hiroshi Yoshida ◽  
Tadahiro Hyakudome
Keyword(s):  
Optical Sensors ◽  
Visual Information ◽  
Autonomous Underwater Vehicle ◽  
Vision System ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Remotely Operated Vehicle ◽  
Camera System ◽  
Stereo Camera ◽  
Camera Systems

The visual information is very important for the operation of an underwater vehicle such as a manned vehicle and a remotely operated vehicle (ROV). And it will be also essential for functions which should be applied to an autonomous underwater vehicle (AUV) for the next generation. Generally, it is got by optical sensors, and most underwater vehicles are equipped with various types of them. Above all, camera systems are applied as multiple units to the underwater vehicles. And they can construct a stereo camera system. In this paper, some new functions, which provide some type of visual information derived by the stereo vision system, are described. And methods to apply the visual information to the underwater vehicle and their utility are confirmed.

scholarly journals A new optimization-driven path planning method with probabilistic completeness for wheeled mobile robots

2019 ◽  
Vol 52 (5-6) ◽  
pp. 317-325 ◽  
Author(s):  
Bo You ◽  
Zhi Li ◽  
Liang Ding ◽  
Haibo Gao ◽  
Jiazhong Xu
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Mobile Robots ◽  
Energy Efficient ◽  
Planning Process ◽  
Planning Method ◽  
Projection Algorithm ◽  
Wheeled Mobile Robots ◽  
Active Set ◽  
Weak Minima

Wheeled mobile robots are widely utilized for environment-exploring tasks both on earth and in space. As a basis for global path planning tasks for wheeled mobile robots, in this study we propose a method for establishing an energy-based cost map. Then, we utilize an improved dual covariant Hamiltonian optimization for motion planning method, to perform point-to-region path planning in energy-based maps. The method is capable of efficiently handling high-dimensional path planning tasks with non-convex cost functions through applying a robust active set algorithm, that is, non-monotone gradient projection algorithm. To solve the problem that the path planning process is locked in weak minima or non-convergence, we propose a randomized variant of the improved dual covariant Hamiltonian optimization for motion planning based on simulated annealing and Hamiltonian Monte Carlo methods. The results of simulations demonstrate that the final paths generated can be time efficient, energy efficient and smooth. And the probabilistic completeness of the method is guaranteed.

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.

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