지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.4
- 수록면
- 362 - 367 (6page)
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초록· 키워드
오류제보하기
The collision-free path of a manipulator should be regenerated in the real time to achieve collision safety when obstacles or humans come into the workspace of the manipulator. A probabilistic roadmap (PRM) method, one of the popular path planning schemes for a manipulator, can find a collision-free path by connecting the start and goal poses through the roadmap constructed by drawing random nodes in the free configuration space. The path planning method based on the configuration space shows robust performance for static environments which can be converted into the off-line processing. However, since this method spends considerable time on converting dynamic obstacles into the configuration space, it is not appropriate for real-time generation of a collision-free path. On the other hand, the method based on the workspace can provide fast response even for dynamic environments because it does not need the conversion into the configuration space. In this paper, we propose an efficient real-time path planning by combining the PRM and the potential field methods to cope with static and dynamic environments. The PRM can generate a collision-free path and the potential field method can determine the configuration of the manipulator. A series of experiments show that the proposed path planning method can provide robust performance for various obstacles.
목차
Abstract
Ⅰ. 서론
Ⅱ. PRM을 이용한 정적 환경에서의 충돌회피 경로계획
Ⅲ. 포텐셜 필드 기반의 머니퓰레이터의 충돌회피 형상 결정
Ⅳ. 조회단계에서의 동적 장애물에 대한 충돌회피 경로 재생성
Ⅴ. 실험 및 결과
Ⅵ. 결론
참고문헌
참고문헌 (12)
참고문헌 신청
1. [학술지(정기간행물)] - K. K. Gupta / 1990 / Fast collision avoidance for manipulator arms: a sequential search strategy / IEEE Transactions on Robotics and Automation 6 (5) : 522 ~ 532
2. [학술지(정기간행물)] - A. Albu-Schaeffer / 2008 / Soft robotics: from torque feedback controlled lightweight robots to intrinsically compliant systems / IEEE Robotics and Automation Magazine 15 (3) : 20 ~ 30
3. [학술지(정기간행물)] - J.-J. Park / 2008 / Safe link mechanism based on nonlinear stiffness for collision safety / MECH MACH THEOR 43 (10) : 1332 ~ 1348
4. [단행본] - P. J. McKerrow / 1992 / Robotics / Addison Wesley : 507 ~ 515
5. [단행본] - J. C. Latombe / 1993 / Robot Motion Planning / Kluwer Academic Publishers
2. [학술지(정기간행물)] - A. Albu-Schaeffer / 2008 / Soft robotics: from torque feedback controlled lightweight robots to intrinsically compliant systems / IEEE Robotics and Automation Magazine 15 (3) : 20 ~ 30
3. [학술지(정기간행물)] - J.-J. Park / 2008 / Safe link mechanism based on nonlinear stiffness for collision safety / MECH MACH THEOR 43 (10) : 1332 ~ 1348
4. [단행본] - P. J. McKerrow / 1992 / Robotics / Addison Wesley : 507 ~ 515
5. [단행본] - J. C. Latombe / 1993 / Robot Motion Planning / Kluwer Academic Publishers
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UCI(KEPA) : I410-ECN-0101-2013-569-003495948