Task Oriented Optimum Positioning of a Mobile Manipulator Base in a Cluttered Environment
Journal of Intelligent and Robotic Systems
Industrial Robot Navigation and Obstacle Avoidance Employing Fuzzy Logic
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs
IEEE Transactions on Visualization and Computer Graphics
A path planning algorithm for industrial robots
Computers and Industrial Engineering - 26th International conference on computers and industrial engineering
Collision-free path planning for a manipulator using free form surface
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 2 - Volume 2
Planning Algorithms
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
A multiple window method for estimation of peaked spectra
IEEE Transactions on Signal Processing
On the modified Bartlett-Hanning window (family)
IEEE Transactions on Signal Processing
Configuration space as a means for augmenting human performance inteleoperation tasks
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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This paper deals with sensor-based motion planning method for a robot arm manipulator operating among unknown obstacles of arbitrary shape. It can be applied to online collision avoidance with no prior knowledge of the obstacles. Infrared sensors are used to build a description of the robot's surroundings. This approach is based on the configuration space but the construction of the C-obstacle surface is avoided. The point automation is confined on some planes with square grids in the C-space. A path-searching algorithm based on square grids is used to guide the automation maneuvering around the C-obstacles on the selected planes. To avoid the construction of the C-obstacle surface, the robot geometry model is expanded, and the static collision detection method is used. Hence, the computation time is reduced and the algorithm can work in real time. The effectiveness of the proposed method is verified by a series of experiments.