A real-time motion planning algorithm for a hyper-redundant set of mechanisms

Nir Shvalb; Boaz Ben Moshe; Oded Medina

doi:10.1017/S0263574713000489

A real-time motion planning algorithm for a hyper-redundant set of mechanisms

Nir Shvalb, Boaz Ben Moshe, Oded Medina

Research output: Contribution to journal › Article › peer-review

33 Scopus citations

Abstract

We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace. We define a varying potential field f on ∂ as a Morse function and followf . We then exemplify our algorithm on a redundant worm climbing robot with n degrees of freedom and compare our algorithm running results with those of the PRM.

Original language	English
Pages (from-to)	1327-1335
Number of pages	9
Journal	Robotica
Volume	31
Issue number	8
DOIs	https://doi.org/10.1017/S0263574713000489
State	Published - 1 Dec 2013
Externally published	Yes

Keywords

Climbing robots
Legged robots
Motion planning
Open chain
Path planning
Redundant manipulators
Serial manipulator design and kinematics

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computational Mechanics
General Mathematics
Modeling and Simulation
Rehabilitation
Mechanical Engineering
Computer Vision and Pattern Recognition
Computer Science Applications
Control and Optimization
Artificial Intelligence

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10.1017/S0263574713000489

Cite this

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abstract = "We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace. We define a varying potential field f on ∂ as a Morse function and followf . We then exemplify our algorithm on a redundant worm climbing robot with n degrees of freedom and compare our algorithm running results with those of the PRM.",

keywords = "Climbing robots, Legged robots, Motion planning, Open chain, Path planning, Redundant manipulators, Serial manipulator design and kinematics",

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AU - Shvalb, Nir

AU - Moshe, Boaz Ben

AU - Medina, Oded

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N2 - We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace. We define a varying potential field f on ∂ as a Morse function and followf . We then exemplify our algorithm on a redundant worm climbing robot with n degrees of freedom and compare our algorithm running results with those of the PRM.

AB - We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace. We define a varying potential field f on ∂ as a Morse function and followf . We then exemplify our algorithm on a redundant worm climbing robot with n degrees of freedom and compare our algorithm running results with those of the PRM.

KW - Climbing robots

KW - Legged robots

KW - Motion planning

KW - Open chain

KW - Path planning

KW - Redundant manipulators

KW - Serial manipulator design and kinematics

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JO - Robotica

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A real-time motion planning algorithm for a hyper-redundant set of mechanisms

Abstract

Keywords

ASJC Scopus subject areas

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