Manipulator path planning in 3-dimensional space

  • Authors:

  • Dmitry Pavlov

  • Affiliations:

  • Saint-Petersburg State Polytechnical University, Saint-Petersburg, Russia

  • Venue:
  • CSR'06 Proceedings of the First international computer science conference on Theory and Applications
  • Year:
  • 2006

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Abstract

Present paper is aimed to work out efficient algorithm of multi-chain manipulator path planning in 3D space with static polygonal obstacles. The resulting solution is based on navigational maps approach. Using this approach, manipulator features are considered as intellectual agent, and reachability information is stored in compact form. This enables fast adaptation to arbitrary parameters of manipulator and workspace. The paper describes two algorithms: (i) a local walkthrough with obstacle avoidance, and (ii) incremental navigational map building, performed at running stage. Both algorithms make an extensive use of the specific features of the problem. Working simultaneously, they allow real-time manipulator path planning, as well as self-learning in idle mode. Algorithms are implemented as a demonstration program.