Hierarchical collision-free path planning algorithm for robotics

Woong Keun Hyun, Il Hong Suh

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

A hierarchical path planning algorithm is proposed to plan a collision free path for mobile robots and robot manipulators in an environment with stationary obstacles as well as multi-robot manipulators in a common workspace. The proposed algorithm consists of two parts; tunnel finding and path planning. The tunnel finding algorithm constructs a free subspace in which start and goal configurations are included and a collision free path candidate can be found. Specifically, the tunnel is constructed by using big cells defined as a group of several basic cells. The path planning algorithm then plans a path in the tunnel. In addition to the capability of planning a collision free path in an environment with stationary obstacles, the proposed algorithm is capable of finding a collision-free path for multi-robot manipulators in a common workspace. To show the validity of the proposed algorithm, some numerical examples are illustrated for mobile robot and multiple robot manipulators in a common workspace.

Original languageEnglish
Pages488-495
Number of pages8
StatePublished - 1995 Jan 1
EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
Duration: 1995 Aug 51995 Aug 9

Other

OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityPittsburgh, PA, USA
Period95/08/595/08/9

Fingerprint

Motion planning
Robotics
Manipulators
Tunnels
Robots
Mobile robots
Planning

Cite this

Hyun, W. K., & Suh, I. H. (1995). Hierarchical collision-free path planning algorithm for robotics. 488-495. Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .
Hyun, Woong Keun ; Suh, Il Hong. / Hierarchical collision-free path planning algorithm for robotics. Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .8 p.
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Hyun, WK & Suh, IH 1995, 'Hierarchical collision-free path planning algorithm for robotics', Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, 95/08/5 - 95/08/9 pp. 488-495.

Hierarchical collision-free path planning algorithm for robotics. / Hyun, Woong Keun; Suh, Il Hong.

1995. 488-495 Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .

Research output: Contribution to conferencePaper

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AB - A hierarchical path planning algorithm is proposed to plan a collision free path for mobile robots and robot manipulators in an environment with stationary obstacles as well as multi-robot manipulators in a common workspace. The proposed algorithm consists of two parts; tunnel finding and path planning. The tunnel finding algorithm constructs a free subspace in which start and goal configurations are included and a collision free path candidate can be found. Specifically, the tunnel is constructed by using big cells defined as a group of several basic cells. The path planning algorithm then plans a path in the tunnel. In addition to the capability of planning a collision free path in an environment with stationary obstacles, the proposed algorithm is capable of finding a collision-free path for multi-robot manipulators in a common workspace. To show the validity of the proposed algorithm, some numerical examples are illustrated for mobile robot and multiple robot manipulators in a common workspace.

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Hyun WK, Suh IH. Hierarchical collision-free path planning algorithm for robotics. 1995. Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .