An Obstacle Detection and Avoidance Algorithm for a Planar Manipular
K. F. Cook, Raymond J. Cipra · 1989
Abstract This paper develops the modeling, simulation and path modification for obstacle avoidance capabilities in an application to a planar robotic mechanism. Geometric and computer models are developed for both the robotic mechanism, as well as for the obstacles which make up the workspace environment. Obstacle expansion is utilized to reduce the models of the robotic links to simple line segments. Obstacle detection is achieved through the use of obstacle detection grids, which are constructed to cover the intended area of robotic motion. The classification of motion will be determined entirely from the initial and final configuration of the robot. This classification of robotic motion will determine the shape and type of the grid used to detect the obstacles. Upon obstacle detection, several path modification algorithms are implemented to circumvent these obstructions. The end result and goal of this paper is achieved through the final generation of an obstacle-free trajectory as illustrated by a comprehensive example.