Hostname: page-component-586b7cd67f-rdxmf Total loading time: 0 Render date: 2024-11-20T09:12:32.388Z Has data issue: false hasContentIssue false
  • English
  • Français

Collision-free path generation for a mobile robot by an artificial transformation of obstacle spaces

Published online by Cambridge University Press:  09 March 2009

H. Ozaki ,
T. Shimadzu  and
A. Mohri
H. Ozaki
Affiliation:
Department of Mechanical Engineering, Kurume College of Technology, 1232 Komorino-machi, Kurume (Japan)
T. Shimadzu
Affiliation:
Department of Mechanical Engineering Production Division, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki Higashiku, Fukuoka (Japan)
A. Mohri
Affiliation:
Department of Mechanical Engineering Production Division, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki Higashiku, Fukuoka (Japan)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a new method to generate a smooth collision-free path of a mobile robot. The path is generated as follows: First, the obstacle spaces are artificially contracted to obtain an initial collision-free path which leads the mobile robot from the start point to the goal; then the path is iteratively modified to avoid the obstacle spaces which are gradually restored (this is carried out in consideration of the index introduced to evaluate the correctness of the path), in the final step, all the obstacle spaces are fully restored and the obtained path becomes a desirable collision-free one. The proposed method is effectively applied to an example of planning planar movements of a mobile robot.

Keywords

Collision-free; Path planning; B-spline; Mobile robot
Type
Research Article
Information
Robotica , Volume 7 , Issue 2 , April 1989 , pp. 139 - 142
Copyright
Copyright © Cambridge University Press 1989

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Khatib, O. and Le Maitre, J.F., “Dynamic control of manipulators operating in a complex environment” Proc. RoManSy, 3rd CISM-lFToMM Symp. 267–282 (1978).Google Scholar
2.Khatib, O., “Real-time obstacle avoidance for manipulators and mobile robots” Proc. IEEE Int. Conf. Robotics and Automation 500–505 (1985).Google Scholar
3.Ozaki, H., Mohri, A. and Takata, M., “Planning of collision-free movement of a manipulator considering its body space” Trans. Soc. Instrm. Control Engrs. 18, No. 9, 942–949 (1982).Google Scholar
4.Baba, N., Miyake, T. and Hiketa, H., “A multiobjective programming approach for a collision-free movement of a robot manipulator” Trans. Soc. Instrm. Control Engrs. 23, No. 11, 1192–1198 (1987).Google Scholar
5.Hirukawa, H. and Kitamura, S., “A collision avoidance method for robot manipulators based on the safety first algorithm and the potential function” J. Robotics Soc. Japan 5, No. 3, 171–179 (1987).CrossRefGoogle Scholar
6.Lozano-Perez, T., “Automatic planning of manipulator transfer movements” IEEE Trans. SMC 11, No. 10, 681–698 (1981).Google Scholar
7.Red, W.E. and Truong-Cao, H.V., “Configuration maps for robot path planning in two dimensions” Trans. ASME, J. Dyn. Syst. Meas. Control 107, 292–298 (1985).Google Scholar
8.Hasegawa, T., “Collision avoidance using characterized description of free space” Trans. Soc. Instrm. Control Engrs. 22, No. 6, 616–622 (1986).Google Scholar
9.Hasegawa, T. and Terasaki, H., “Collision avoidance for multi-joint manipulators: divide and conquer approach by determining intermediate goals” Trans. Soc. Instrm. Control Engrs. 23, No. 8, 842–848 (1987).Google Scholar
10.Kondo, K. and Kimura, F., “Collision avoidance using free space enumeration method based on Lee's algorithm” J. Robotics Soc. Japan 5, No. 4, 263–272 (1987).CrossRefGoogle Scholar
11.Ozaki, H., “On the planning of collision-free movements of manipulators” Advanced Robotics 1, No. 3, 261–272 (1986).Google Scholar
12.Rogers, D.F. and Adams, J.A., Mathematical Elements for Computer Graphics (McGraw-Hill, New York, 1976).Google Scholar