제어로봇시스템학회:학술대회논문집
- 1991.10a
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- Pages.1034-1039
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- 1991
Robot motion planning for time-varying obstacle avoidance using distance function
거리 함수를 이용한 로보트의 시변 장애물 회피 동작계획
Abstract
A robot motion planning algorithm for time-varying obstacle avoidance is proposed. The robot motion planning problem is replaced with the optimization problem by using the distance function with the divided configuration space. To divide the configuration space, the polar coordinate system is used. For each divided configuration space, the admissible region where the robot can reach without collisions is obtained using the distance function. For an object moving in a plane, the admissible region is described by linear constraints on the polar coordinate system. A numerical algorithm that solves the optimization problem is shown and the computer simulation is carried out.
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