2A1-A03 Homotopic Path Planning on Manifolds for Cabled Mobile Robots(New Control Theory and Motion Control)
Takeo Igarashi, Mike Stilman · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2012
We present two path planning algorithms for mobile robots that are connected by cable to a fixed base. Our algorithms efficiently compute the shortest path and control strategy that lead the robot to the target location considering cable length and obstacle interactions. First, we focus on cable-obstacle collisions. We introduce an algorithm that builds and searches an overlapped configuration space manifold. Next, we present an extension that considers cable-robot collisions. All algorithms are experimentally validated using a real robot.