A search algorithm for motion planning with six degrees of freedom
Artificial Intelligence
The design and analysis of spatial data structures
The design and analysis of spatial data structures
Real-time configurations for space transforms for obstacle avoidance
International Journal of Robotics Research
Practical Motion Planning in Robotics: Current Approaches and Future Directions
Practical Motion Planning in Robotics: Current Approaches and Future Directions
Mathematical formalism for the fast evaluation of the configuration space
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Planning Algorithms
Development of a configuration space motion planner for robot in dynamic environment
Robotics and Computer-Integrated Manufacturing
Efficient grid-based spatial representations for robot navigation in dynamic environments
Robotics and Autonomous Systems
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In this research, we study the construction of configuration space (C-space) of manipulators. The proposed approach is based upon precomputing the global topology of a robot's free space, and consists of an offline phase and an online phase. In the offline phase, a C-space obstacle database (COD) for a given robot is developed in which the C-space obstacle (C-obstacle) maps are stored and indexed by the cells of the workspace; in the online phase when the same robot is operated in a real environment, those maps whose indices match the real obstacle cells are identified and then extracted from the COD. The superposition of these maps forms forbidden region in operation. This proposed approach is a generic one and can be applied to manipulators with arbitrary kinematic structures and geometries. The construction of the COD, which is generally the most time-consuming step, is implemented in the offline phase, and the online computing only involves the identification of the components matching the COD indices. Therefore, this proposed approach for C-space construction can be realized in a real-time online fashion and is especially suitable for robot manipulation under dynamic operations. We carry out analyses on several types of manipulators to verify and demonstrate the feasibility and efficiency of the proposed approach.