Collision Avoidance Navigation For Mobile Articulated Robotic Systems

Alexander Yu-Kuang Chen

doi:10.1117/12.949095

10 March 1989 Collision Avoidance Navigation For Mobile Articulated Robotic Systems

Alexander Yu-Kuang Chen

Proceedings Volume 1007, Mobile Robots III; (1989) https://doi.org/10.1117/12.949095
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

This paper presents an initial attempt to build a complete framework which will support the collision-free spatial planning for advanced robotic systems. The Inverse Spatial Planning Problem (ISPP) is defined to determine the joint variables and the base mobility such that the designated targets can be dextrously reached at terminal time without encountering any collision. A new approach for solving the ISPP is introduced which includes world modeling, the associated inverse kinematic problem (IKP) solver, collision detection and avoidance algorithms and sensor data fusion consideration. The SRAARS (Scientific Research Associates Advanced Robotic Systems) is employed to demonstrate the current status of the new ISPP solver.

Citation Download Citation

Alexander Yu-Kuang Chen "Collision Avoidance Navigation For Mobile Articulated Robotic Systems", Proc. SPIE 1007, Mobile Robots III, (10 March 1989); https://doi.org/10.1117/12.949095

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