論文

査読有り 筆頭著者 最終著者 責任著者
2008年

Evaluation of a new backtrack free path planning algorithm for manipumators

IEEJ Trans EIS. 128/8, 1293-1302
  • 村田 知也

128
8
開始ページ
1293
終了ページ
1302
記述言語
英語
掲載種別
DOI
10.1541/ieejeiss.128.1293
出版者・発行元
The Institute of Electrical Engineers of Japan

This paper evaluates a newly proposed backtrack free path planning algorithm (BFA) for manipulators. BFA is an exact algorithm, i.e. it is resolution complete. Different from existing resolution complete algorithms, its computation time and memory space are proportional to the number of arms. Therefore paths can be calculated within practical and predetermined time even for manipulators with many arms, and it becomes possible to plan complicated motions of multi-arm manipulators in fully automated environments. The performance of BFA is evaluated for 2-dimensional environments while changing the number of arms and obstacle placements. Its performance under locus and attitude constraints is also evaluated. Evaluation results show that the computation volume of the algorithm is almost the same as the theoretical one, i.e. it increases linearly with the number of arms even in complicated environments. Moreover BFA achieves the constant performance independent of environments.

リンク情報
DOI
https://doi.org/10.1541/ieejeiss.128.1293
CiNii Articles
http://ci.nii.ac.jp/naid/10024266756
CiNii Books
http://ci.nii.ac.jp/ncid/AN10065950
URL
http://id.ndl.go.jp/bib/9600287
URL
https://jlc.jst.go.jp/DN/JALC/00316749631?from=CiNii
ID情報
  • DOI : 10.1541/ieejeiss.128.1293
  • ISSN : 0385-4221
  • CiNii Articles ID : 10024266756
  • CiNii Books ID : AN10065950

エクスポート
BibTeX RIS