Evaluation of a New Backtrack Free Path Planning Algorithm for Manipulators
-
- Islam Md. Nazrul
- Graduate School of Engineering, University of Fukui
-
- Tamura Shinsuke
- Graduate School of Engineering, University of Fukui
-
- Murata Tomonari
- Graduate School of Engineering, University of Fukui
-
- Yanase Tatsuro
- Graduate School of Engineering, University of Fukui
Search this article
Description
This paper evaluates a newly proposed backtrack free path planning algorithm (BFA) for manipulators. BFA is an exact algorithm, i.e. it is resolution complete. Different from existing resolution complete algorithms, its computation time and memory space are proportional to the number of arms. Therefore paths can be calculated within practical and predetermined time even for manipulators with many arms, and it becomes possible to plan complicated motions of multi-arm manipulators in fully automated environments. The performance of BFA is evaluated for 2-dimensional environments while changing the number of arms and obstacle placements. Its performance under locus and attitude constraints is also evaluated. Evaluation results show that the computation volume of the algorithm is almost the same as the theoretical one, i.e. it increases linearly with the number of arms even in complicated environments. Moreover BFA achieves the constant performance independent of environments.
Journal
-
- IEEJ Transactions on Electronics, Information and Systems
-
IEEJ Transactions on Electronics, Information and Systems 128 (8), 1293-1302, 2008
The Institute of Electrical Engineers of Japan
- Tweet
Keywords
Details 詳細情報について
-
- CRID
- 1390282679583405696
-
- NII Article ID
- 10024266756
-
- NII Book ID
- AN10065950
-
- ISSN
- 13488155
- 03854221
-
- NDL BIB ID
- 9600287
-
- Text Lang
- en
-
- Data Source
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- Abstract License Flag
- Disallowed