Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Gross motion planning—a survey
ACM Computing Surveys (CSUR)
Robot motion planning: a distributed representation approach
International Journal of Robotics Research
Robot Motion Planning
Elastic Strips: A Framework for Integrated Planning and Execution
The Sixth International Symposium on Experimental Robotics VI
Path planning of 3-D objects using a new workspace model
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Mobile robot navigation in 2-D dynamic environments using an electrostatic potential field
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Potential-based modeling of 2-D regions using nonuniform source distributions
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
An Evolutionary Algorithm with Non-random Initial Population for Path Planning of Manipulators
IEA/AIE '09 Proceedings of the 22nd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems: Next-Generation Applied Intelligence
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This paper proposes a novel path planning algorithm of 3-D articulated robots with moving bases based on a generalized potential field model. The approach computes, similar to that done in electrostatics, repulsive forces and torques between charged objects. A collision-free path can be obtained by locally adjusting the robot configuration to search for minimum potential configurations using these forces and torques. The proposed approach is efficient since these potential gradients are analytically tractable. In order to speedup the computation, a sequential planning strategy is adopted. Simulation results show that the proposed algorithm works well, in terms of collision avoidance and computation efficiency.