Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Eighteenth national conference on Artificial intelligence
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
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This paper describes a novel method of path following for wheeled mobile robots. A number of virtual manipulators mounted on the robot are used to make the robot poses which satisfy both of path following and collision avoidance. This method can calculate robot poses by using a single jacobi matrix despite of coping with several manipulators. We also present about the method of motion stabilization by using a singularity-avoiding criteria. Effectiveness of the proposed method is proven by means of simulation in both cases of omnidirectional wheelbase and 2 wheeled mobile platform.