Robot Motion Planning by Approximation of Obstacles in Configuration Space
| Authors: | Ruehl Martin, University of Siegen, Germany
Roth Hubert, University of Siegen, Germany |
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| Topic: | 4.3 Robotics |
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| Session: | Mobile Robots I |
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| Keywords: | robotics, robot programming, robotic manipulators, industry automation, obstacles, obstacle avoidance, path planning, configuration space |
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Abstract
This paper describes an approach for automatic robot motion planning. A starting path consisting of the direct line connection from start to goal in the configuration space is generated first. At the most colliding configuration a new point is added and moved out of the collision. For this the configuration space is approximated using a corresponding skeleton robot and a point-like obstacle. A collision free path for this approximation is generated by using the inverse kinematics of the skeleton robot. Then the algorithm is started again. By this the whole path is moved stepwise out of the collision.
