Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
The complexity of robot motion planning
The complexity of robot motion planning
Robot motion planning: a distributed representation approach
International Journal of Robotics Research
A general algorithm for dynamic control of multilink robots
International Journal of Robotics Research
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Fast computation of generalized Voronoi diagrams using graphics hardware
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Iterative solution of nonlinear equations in several variables
Iterative solution of nonlinear equations in several variables
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
Robot Motion Planning
Geometric Constraint Solving and Applications
Geometric Constraint Solving and Applications
International Journal of Computer Integrated Manufacturing
A family of skeletons for motion planning and geometric reasoning applications
Artificial Intelligence for Engineering Design, Analysis and Manufacturing - Representing and Reasoning About Three-Dimensional Space
Advanced Engineering Informatics
Hi-index | 0.00 |
We present a novel framework for motion planning of rigid and articulated robots in complex, dynamic, 3D environments and demonstrate its application to virtual prototyping. Our approach transforms the motion planning problem into the simulation of a dynamical system in which the motion of each rigid robot is subject to the influence of virtual forces induced by geometric constraints. These constraints may enforce joint connectivity and angle limits for articulated robots, spatial relationships between multiple collab-orative robots, or have a robot follow an estimated path to perform certain tasks in a sequence. Our algorithm works well in dynamic environments with moving obstacles and is applicable to challenging planning scenarios where multiple robots must move simultaneously to achieve a collision free path. We demonstrate its effectiveness for parts removal, automated car painting, and assembly line planning scenarios.