Configuration空間における障害物記述に関する考察

書誌事項

タイトル別名
  • Describing Moving Obstacles in a Configuration Space.

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説明

For motion planning of a manipurator, the use of a configuration space is highly efficient. Algorithms of the collision-free planning in static environments have been proposed in many papers. The efficiency of the algorithms depends on the description of obstacles in a configuration space. In general, the complexity of a configuration space map exponentially increases with the number of joints. Therefore, building the configuration space map is a time-consuming process, and the collision-free path can not be searched in real time. In this paper, we illustrate mathematical properties of a new kind of configuration space and propose an approach to parameterizing an obstacle in the configuration space. A spherical obstacle in a work space is transformed into a characteristic subspace in the configuration space. Therefore, we can approximate parameters of a sphere as a set of geometric entities. The transformation of a complex work space into the configuration space is described in terms of integrating the transformation of each element of a set of spheres. A collision-free path in a dynamic environment is found by using a Penalty-Function-Method. The Penalty-Function is modified according to the factors of the velocity along axes in a polar coordinates system.

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詳細情報 詳細情報について

  • CRID
    1390282679703262080
  • NII論文ID
    10006716686
  • NII書誌ID
    AN00141189
  • DOI
    10.7210/jrsj.11.255
  • ISSN
    18847145
    02891824
    http://id.crossref.org/issn/02891824
  • 本文言語コード
    ja
  • データソース種別
    • JaLC
    • Crossref
    • CiNii Articles
  • 抄録ライセンスフラグ
    使用不可

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