Pseudo minimum translational distance between convex polyhedra (II) |
| |
Authors: | Xiangyang Zhu Han Ding and Youlun Xiong |
| |
Affiliation: | (1) Department of Mechanical Engineering, Southeast University, 210096 Nanjing, China;(2) School of Mechanical Science & Engineering, Huazhong University of Science & Technology, 430074 Wuhan, China |
| |
Abstract: | By using the pseudo minimum translational distance between convex objects, this paper presents two algorithms for robot path
planning. First, an analytically tractable potential field is defined in the robot configuration space, and the concept, of
virtual obstacles is introduced and incorporated in the path planner to handle the local minima of the potential function.
Second, based on the Lipschitz continuity and differentiability of the pseudo minimum translational distance, the flexible-trajectory
approach is implemented. Simulation examples are given to show the effectiveness and efficiency of the path planners for both
mobile robots and manipulators. |
| |
Keywords: | robot path planning pseudo minimum translational distance potential field virtual obstacle flexible-trajectory approach |
本文献已被 SpringerLink 等数据库收录! |
|