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A novel potential-based path planning of 3-D articulated robots with moving bases

Published online by Cambridge University Press:  26 November 2004

Chien-Chou Lin ,
Chi-Chun Pan  and
Jen-Hui Chuang
Chien-Chou Lin
Affiliation:
Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail [email protected].
Chi-Chun Pan
Affiliation:
Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail [email protected].
Jen-Hui Chuang
Affiliation:
Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail [email protected].
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Abstract

This paper proposes a novel path planning algorithm of 3-D articulated robots with moving bases based on a generalized potential field model. The approach computes, similar to that done in electrostatics, repulsive forces and torques between charged objects. A collision-free path can be obtained by locally adjusting the robot configuration to search for minimum potential configurations using these forces and torques. The proposed approach is efficient since these potential gradients are analytically tractable. In order to speedup the computation, a sequential planning strategy is adopted. Simulation results show that the proposed algorithm works well, in terms of collision avoidance and computation efficiency.

Keywords

Path planningArticulated robotPotential field3-D workspace.
Type
Research Article
Information
Robotica , Volume 22 , Issue 4 , August 2004 , pp. 359 - 367
Copyright
2004 Cambridge University Press

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Footnotes

This work is supported by National Science Council of Taiwan, Republic of China, under grant no. NSC90-2213-E-0090151.