Collision-Free Path Planning Applied Robotic Arms Using Homotopy Continuation Methods for Embedded Systems
Gerardo C. Velez-Lopez, Luis Hernández-Martínez, Héctor Vázquez-Leal · 2021 18th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) · 2021
Robotic arms are used in multiple disciplines, in structured and unstructured workspaces, solving a diversity of problems, which has allowed its incorporation in collaborative activities with human beings To solve these types of scenarios, it is necessary to have an efficient path planning method that obtains a collision-free path that is easy to apply and that the necessary resources to implement it are the minimum. For this reason, this paper presents a new proposal that guarantees the obtaining of path, it is capable of working in narrow corridors, it does not need path smoothing, it is deterministic (it is based on homotopy continuation methods). In addition, the memory and computation time required to obtain the path is in the order of milliseconds and KB, allowing it to be implemented in embedded systems and this paper will show it.