Path planning in the presence of obstacles based on task requirements

DOI10.1002/ROB.4620110804MaRDI QIDQ4698183zbMATH OpenOpenAlexFDO

Authors Tzung-Hsien Wu, Kuu-Young Young

Publication date 27 August 1995

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620110804

zbMATH Keywords

geometrical analysisspherical obstaclekinematically feasible pathwrist-partitioned type of robot manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

Recommendations

• Collision-free path planning and modification based on task requirements.
• Robot path planning in a constrained workspace by using optimal control techniques
• Path feasibility and modification
• Planning of the trajectory for the tip of redundant robotic mechanisms in the presence of obstacles

Cites work

• Dynamic Scaling of Manipulator Trajectories
• Dynamic path planning for a planar articulated robot arm moving amidst unknown obstacles
• Manipulator Cartesian Path Control
• Path feasibility and modification

Cited in

(6)

• Path feasibility and modification
• Collision-free path planning and modification based on task requirements.
• Path planning of continuum robot based on path fitting
• Consideration of obstacle danger level in path planning using A\(^*\) and fast-marching optimisation: Comparative study
• Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations
• Planning the Shortest Safe Path Amidst Unpredictably Moving Obstacles

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