論文

査読有り 筆頭著者 最終著者 責任著者
2011年12月

Implementation of BFA (Backtrack-Free Path Planning Algorithm) for Three-Dimensional Workspaces and Its Application to Path Planning of Multi Manipulators

ELECTRONICS AND COMMUNICATIONS IN JAPAN
  • Tomonari Murata
  • ,
  • Shinsuke Tamura
  • ,
  • Masayuki Kawai

94
12
開始ページ
1
終了ページ
11
記述言語
英語
掲載種別
研究論文(学術雑誌)
DOI
10.1002/ecj.10392
出版者・発行元
WILEY-BLACKWELL

Together with a newly developed method for avoiding collisions between links themselves, the BFA (Backtrack-Free path planning Algorithm) has been implemented for calculating the paths of manipulators that are operated in three-dimensional workspaces. An approach to extending the BFA to an algorithm for calculating the paths of multiple manipulators cooperating to accomplish complicated tasks, in which multiple manipulators are considered as a single composite one with many links, is also discussed. The algorithm is backtrack-free and resolution-complete. Its computational volume is proportional to the total number of links and does not change drastically with the environments in which the manipulators are operated. Simulation results have demonstrated that the BFA allows efficient generation of paths for both single and multiple manipulators. (C) 2011 Wiley Periodicals, Inc. Electron Comm Jpn, 94(12): 1-11,2011; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/ecj.10392

リンク情報
DOI
https://doi.org/10.1002/ecj.10392
Web of Science
https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000297078400001&DestApp=WOS_CPL
ID情報
  • DOI : 10.1002/ecj.10392
  • ISSN : 1942-9533
  • Web of Science ID : WOS:000297078400001

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