제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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- Pages.491-496
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- 1992
A robot motion planning method for time-varying obstacle avoidance
- Ko, Nak-Yong (Department of Control and Instrumentation Eng., Chosun Univ., Gwangjoo 501-759) ;
- Lee, Bum-Hee (Department of Control and Instrumentation Eng., Seoul National Univ.) ;
- Ko, Myoung-Sam (Department of Control and Instrumentation Eng., Seoul National Univ.)
- 발행 : 1992.10.01
초록
An analytic solution approach to the time-varying obstacle avoidance problem is pursued. We formulate the problem in robot joint space(JS), and introduce the view-time concept to deal with the time-varying obstacles. The view-time is a set of continuous times in which a time-varying obstacle is viewed and approximated by an equivalent stationary obstacle. The equivalent stationary obstacle is transformed into the JS obstacle. In JS, the path and trajectory avoiding the JS obstacle is planned.
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