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An approach to robot motion planning for time-varying obstacle avoidance using the view-time concept

Published online by Cambridge University Press:  09 March 2009

Nak Yong Ko ,
Bum Hee Leet  and
Myoung Sam Kot
Nak Yong Ko
Affiliation:
Department of Control and Instrumentation Engineering, Chosun University, Gwangjoo 501-759 (Korea)
Bum Hee Leet
Affiliation:
Department of Control and Instrumentation Engineering, Seoul National University, Shillim-Dong Kwanak-Ku, Seoul 151-742 (Korea)
Myoung Sam Kot
Affiliation:
Department of Control and Instrumentation Engineering, Seoul National University, Shillim-Dong Kwanak-Ku, Seoul 151-742 (Korea)
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Summary

An analytic solution approach to the time-varying obstacle avoidance problem is adopted. The problem considers the collision between any link of the robotic manipulator and the time-varying obstacle. The information on the motion and shape change of the obstacle is given prior to robot motion planning. To facilitate the problem, we analyze and formulate it mathematically in a robot joint space. We then introduce the view-time concept and analyze its properties. Using the properties of the view-time, a view-time based motion planning method is proposed. The view-time based method plans the robot motion by units of the view-time. In every view-time, it uses a stationary obstacle avoidance scheme. The proposed method is applied to the motion planning of a 2 DOF robotic manipulator in an environment with a polyhedral moving obstacle.

Keywords

Obstacle avoidance; View-time concept; Motion planning; Moving obstacle.
Type
Research Article
Information
Robotica , Volume 11 , Issue 4 , July 1993 , pp. 315 - 327
Copyright
Copyright © Cambridge University Press 1993

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