A trajectory generation module for 2D and 2D1/2 environment
Malik Mallem, Sebastien Rougeaux, H. Mellanger, F. Chavand · 2002
A trajectory generation module for a mobile robot in a 2D environment and for a robot arm in a 2D1/2 environment made of low height objects placed on a work surface is discussed. For the mobile robot, the problem of driving into a narrow corridor is solved by means of a backtracking process. Obstacle avoidance is carried out by taking into account only the wrist and the end effector of the robot. This allows the determination of a grasping configuration of convex and concave objects, and allows the choice of the shortest, collision-free trajectory.>