書誌事項
- タイトル別名
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- Implementation of BFA (Backtrack Free Path Planning Algorithm) for 3 Dimensional Work Spaces and its Application to Path Planning of Multi Manipulators
- BFA Backtrack Free path planning Algorithm ノ 3ジゲン サギョウ クウカン ムケ ジッソウ ト タワン マニピュレータエ ノ オウヨウ
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BFA (Backtrack Free path planning Algorithm) has been implemented for calculating paths of manipulators behaving in 3-dimensional work spaces. In the implementation, a method to avoid collisions between links also has been proposed. This paper also discusses an approach to extending BFA for path plannings of cooperating multi manipulators. In the approach, multiple manipulators are considered as a single composite one with many links. Simulation results demonstrated that BFA enabled the efficient generation of paths both for single and multi manipulators. The algorithm is backtrack free and resolution complete. Computation volume of the algorithm is proportional to the total number of links and does not change with environments where manipulators behave.
収録刊行物
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- 電気学会論文誌Ｃ（電子・情報・システム部門誌）
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電気学会論文誌Ｃ（電子・情報・システム部門誌） 131 (5), 1059-1067, 2011
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390001204606835200
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- NII論文ID
- 10030526288
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- NII書誌ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL書誌ID
- 11101929
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可