Describing Moving Obstacles in a Configuration Space.

DOI 10 Citations 18 References

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Other Title
  • Ｃｏｎｆｉｇｕｒａｔｉｏｎ空間における障害物記述に関する考察

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Description

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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Details 詳細情報について

  • CRID
    1390282679703262080
  • NII Article ID
    10006716686
  • NII Book ID
    AN00141189
  • DOI
    10.7210/jrsj.11.255
  • ISSN
    18847145
    02891824
    http://id.crossref.org/issn/02891824
  • Text Lang
    ja
  • Data Source
    • JaLC
    • Crossref
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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