Robot motion planning with many degrees of freedom
Chenyu Ma, Wei Li, Yang Yang, Liuchen Chang · 2002
Because a robot usually operates in environments with uncertain information, path planning for the robot should be performed in real-time so as to match process speed based on sensors. This paper presents an efficient approach to behavior based motion planning of a manipulator with many degrees of freedom, which is based on an algorithm for fast mapping obstacles from a robot's workspace (W-space) into its configuration space (C-space). In the paper, several types of behaviors are defined to formulate the manipulator motion, while rules of choosing behaviors are also given. The proposed method is suitable for the requirement on real-time robot path planning in uncertain environments.