Abstract
In this paper, we present a novel approach within the sequential framework to develop practical motion planners for many degrees of freedom (DOF) arms. In this approach, each of the sub-problem is solved by using numerical potential fields defined over bitmap-based representations of the 2-dimensional sub-spaces. Furthermore, an efficient backtracking mechanism based on a novel notion of virtual forbidden regions in these 2-dimensional subspaces is presented. This novel approach leads to much more efficient and robust motion planners than a previously reported visibility graph (in the 2-dimensional subspaces) based implementation. We have conducted extensive experiments for planar arms with up to 8-DOF among randomly placed obstacles. Although it is not complete, the planner never failed for the examples in hundreds of simulations, and very small backtracking levels were needed. We have implemented the planner for 3-dimensional workspaces and an illustrative example for a 7-DOF manipulator shows the promise of our approach.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
BacktrackingLinear subspaceWorkspaceComputer scienceMotion planningPlannerDegrees of freedom (physics and chemistry)Motion (physics)VisibilityGraphTheoretical computer scienceArtificial intelligenceMathematical optimizationAlgorithmRobotMathematics
Affiliated Institutions
Related Publications
Dynamic 3D models with local and global deformations: deformable superquadrics
The authors present a physically based approach to fitting complex three-dimensional shapes using a novel class of dynamic models that can deform both locally and globally. They...
A method for registration of 3-D shapes
The authors describe a general-purpose, representation-independent method for the accurate and computationally efficient registration of 3-D shapes including free-form curves an...
ESPRIT-estimation of signal parameters via rotational invariance techniques
An approach to the general problem of signal parameter estimation is described. The algorithm differs from its predecessor in that a total least-squares rather than a standard l...
Near-optimal nonholonomic motion planning for a system of coupled rigid bodies
How does a falling cat change her orientation in midair without violating angular momentum constraint? This has become an interesting problem to both control engineers and robot...
Extracting affine deformations from image patches. I. Finding scale and rotation
Image deformations due to relative motion between an observer and an object may be used to infer 3-D structure. Up to the first order, these deformations can be written in terms...
Publication Info
- Year
- 2002
- Type
- article
- Pages
- 2038-2043
- Citations
- 26
- Access
- Closed
External Links
Social Impact
Altmetric
PlumX Metrics
Social media, news, blog, policy document mentions
Citation Metrics
26
OpenAlex
1
Influential
7
CrossRef
Cite This
Kamal Gupta
(2002).
Practical global motion planning for many degrees of freedom: a novel approach within sequential framework.
Proceedings of the 1994 IEEE International Conference on Robotics and Automation
, 2038-2043.
https://doi.org/10.1109/robot.1994.351164
Identifiers
- DOI
- 10.1109/robot.1994.351164