Reactive approach to on-line path planning for robot manipulators in dynamic environments

  • Authors:

  • Margarita Mediavilla;José Luis González;Juan Carlos Fraile;José Ramón Perán

  • Affiliations:

  • Departamento de Ingeniería de Sistemas y Automática, E.T.S.I.I., Universidad de Valladolid, Valladolid (Spain) marga@eis.uva.es;Departamento de Ingeniería de Sistemas y Automática, E.T.S.I.I., Universidad de Valladolid, Valladolid (Spain) marga@eis.uva.es;Departamento de Ingeniería de Sistemas y Automática, E.T.S.I.I., Universidad de Valladolid, Valladolid (Spain) marga@eis.uva.es;Departamento de Ingeniería de Sistemas y Automática, E.T.S.I.I., Universidad de Valladolid, Valladolid (Spain) marga@eis.uva.es

  • Venue:
  • Robotica
  • Year:
  • 2002

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Abstract

This paper describes a new approach to path planning of robot manipulators with many degrees of freedom. It is designed for on-line motion in dynamic and unpredictable environments. The robots react to moving obstacles using a local and reactive algorithm restricted to a subset of its configuration space. The lack of a long-term view of local algorithms (local minima problems) is solved using an off-line pre-planning stage that chooses the subset of the configuration space that minimises the probability of not finding collision free paths. The approach is implemented and tested on a system of three Scorbot-er IX five link robots.