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| a real-time path planning approach without the computation of cspace obstacles | |
| Wang Yongji; Han Liu; Li Mingshu; Wang Qing; Zhou Jinhui; Cartmell Matthew | |
| 2004 | |
| Source | Cambridge University Press
 |
| Volume | 22Issue:2Pages:173-187 |
| English Abstract | An important concept proposed in the early stage of robot path planning field is the shrinking of the robot to a point and meanwhile expanding of the obstacles in the workspace as a set of new obstacles. The resulting grown obstacles are called the Configuration Space (Cspace) obstacles. The find-path problem is then transformed into that of finding a collision free path for a point robot among the Cspace obstacles. However, the research experiences obtained so far have shown that the calculation of the Cspace obstacles is very hard work when the following situations occur: 1. both the robot and obstacles are not polygons and 2. the robot is allowed to rotate. This situation is even worse when the robot and obstacles are three dimensional (3D) objects with various shapes. Obviously a direct path planning approach without the calculation of the Cspace obstacles is strongly needed. This paper presents such a new real-time robot path planning approach which, to the best of our knowledge, is the first one in the robotic community. The fundamental ideas are the utilization of inequality and optimization technique. Simulation results have been presented to show its merits. |
| Indexed Type | ei ; sci |
| Department | 互联网软件技术实验室 |
| Language | 英语 |
| WOS ID | WOS:000220907800005 |
| Citation statistics | |
| Content Type | 期刊论文 |
| URI | http://ir.iscas.ac.cn/handle/311060/2747 |
| Collection | 互联网软件技术实验室 |
| Recommended Citation GB/T 7714 | Wang Yongji,Han Liu,Li Mingshu,et al. a real-time path planning approach without the computation of cspace obstacles[J]. Cambridge University Press,2004,22(2):173-187. |
| APA | Wang Yongji,Han Liu,Li Mingshu,Wang Qing,Zhou Jinhui,&Cartmell Matthew.(2004).a real-time path planning approach without the computation of cspace obstacles.Cambridge University Press,22(2),173-187. |
| MLA | Wang Yongji,et al."a real-time path planning approach without the computation of cspace obstacles".Cambridge University Press 22.2(2004):173-187. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| 20042202173.pdf（1445KB） | 开放获取 | -- | Application Full Text | |||
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