Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Efficient Path Planning of a High DOF Multibody Robotic System using Adaptive RRT

Adaptive RRT를 사용한 고 자유도 다물체 로봇 시스템의 효율적인 경로계획

  • Kim, Dong-Hyung (Department of Mechanical Engineering, Hanyang University) ;
  • Choi, Youn-Sung (Department of Mechanical Engineering, Hanyang University) ;
  • Yan, Rui-Jun (Department of Mechatronics Engineering, Hanyang University) ;
  • Luo, Lu-Ping (Department of Mechanical Engineering, Hanyang University) ;
  • Lee, Ji Yeong (Department of Robot Engineering, Hanyang University) ;
  • Han, Chang-Soo (Department of Robot Engineering, Hanyang University)
  • 김동형 (한양대학교 기계공학과) ;
  • 최윤성 (한양대학교 기계공학과) ;
  • 염서군 (한양대학교 메카트로닉스공학과) ;
  • 라로평 (한양대학교 기계공학과) ;
  • 이지영 (한양대학교 로봇공학과) ;
  • 한창수 (한양대학교 로봇공학과)
  • Received : 2014.08.31
  • Accepted : 2015.01.06
  • Published : 2015.03.01
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Abstract

This paper proposes an adaptive RRT (Rapidly-exploring Random Tree) for path planning of high DOF multibody robotic system. For an efficient path planning in high-dimensional configuration space, the proposed algorithm adaptively selects the robot bodies depending on the complexity of path planning. Then, the RRT grows only using the DOFs corresponding with the selected bodies. Since the RRT is extended in the configuration space with adaptive dimensionality, the RRT can grow in the lower dimensional configuration space. Thus the adaptive RRT method executes a faster path planning and smaller DOF for a robot. We implement our algorithm for path planning of 19 DOF robot, AMIRO. The results from our simulations show that the adaptive RRT-based path planner is more efficient than the basic RRT-based path planner.

Keywords

References

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