Homotopic Path Planning on Manifolds for Cabled Mobile Robots

被引：22
|
作者：
Igarashi, Takeo [1 ]
Stilman, Mike [2 ]
机构：
[1] Univ Tokyo, JST ERATO Igarashi Design Interface Project, Dept Comp Sci, Tokyo 1138654, Japan
[2] Georgia Inst Technol, Ctr Robot & Intelligent Machines, Atlanta, GA 30332 USA
来源：
ALGORITHMIC FOUNDATIONS OF ROBOTICS IX | 2010年 / 68卷
关键词：
D O I：
10.1145/1833349.1778847
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
We present two path planning algorithms for mobile robots that are connected by cable to a fixed base. Our algorithms efficiently compute the shortest path and control strategy that lead the robot to the target location considering cable length and obstacle interactions. First, we focus on cable-obstacle collisions. We introduce and formally analyze algorithms that build and search an overlapped configuration space manifold. Next, we present an extension that considers cable-robot collisions. All algorithms are experimentally validated using a real robot.
引用
收藏
页码：1 / +
页数：4
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