A Simple Motion Planning Algorithm for General Robot Manipulators,

Abstract

This paper presents a simple and efficient algorithm using configuration space, to plan collision-free motions for general robot manipulators. It describes an implementation of the algorithm for manipulators made up of revolute joints. The configuration-space obstacles for an n degree-of-freedom manipulator are approximated by sets of n - 1 dimensional slices, recursively built up from one dimensional slices. This obstacle representation leads to an efficient approximation of the free space outside of the configuration-space obstacles. Keywords: Polygons; Joint angles; Paths; Heuristic subsets. (Author)

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1986
Accession Number
ADA183816

Entities

People

  • Tomas Lozano-Pérez

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Boundaries
  • Collisions
  • Computations
  • Computer Graphics
  • Computer Programming
  • Coordinate Systems
  • Displacement
  • Environment
  • Equations
  • Graphics
  • High Level Language Architecture
  • Motion Planning
  • Robots
  • Three Dimensional
  • Two Dimensional

Fields of Study

  • Engineering

Readers

  • Graph Algorithms and Convex Optimization.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Space
  • Space - Spacecraft Maneuvers