Collision Avoidance Navigation For Mobile Articulated Robotic Systems
Alexander Y. Chen · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1989
This paper presents an initial attempt to build a complete framework which will support the collision-free spatial planning for advanced robotic systems. The Inverse Spatial Planning Problem (ISPP) is defined to determine the joint variables and the base mobility such that the designated targets can be dextrously reached at terminal time without encountering any collision. A new approach for solving the ISPP is introduced which includes world modeling, the associated inverse kinematic problem (IKP) solver, collision detection and avoidance algorithms and sensor data fusion consideration. The SRAARS (Scientific Research Associates Advanced Robotic Systems) is employed to demonstrate the current status of the new ISPP solver.