Path planning method for manipulator to avoid obstacle based on advanced A * algorithm

Shou Kun Wang*, Zhi Di, Jun Zheng Wang, Jun Jie Guo

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

9 引用 (Scopus)

摘要

To solve the problem that manipulator may collide with the obstacles during the run-time in its work space, two technical measures are proposed in this paper: cylinder enveloping collision detection method and variable-step segment-searching method based on A * algorithm. Using former method, the problem of collision detecting can be transformed to detect the positions between two cylinders; while the problem of using traditional A * algorithm in path searching that lead to large searching data even infinite loop searching could be solved by using the variable-step segment-searching method. The effectiveness and feasibility of proposed methods are proved by simulation on three-dimension platform based on OpenGL and application to actual system.

源语言英语
页(从-至)1302-1306
页数5
期刊Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
31
11
出版状态已出版 - 11月 2011

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