Adaptation Algorithm of Geometric Graphs for Robot Motion Planning in Dynamic Environments
Joint Authors
Park, Jae-Han
Bae, Ji-Hun
Baeg, Moon-Hong
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-19, 19 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-02-29
Country of Publication
Egypt
No. of Pages
19
Main Subjects
Abstract EN
This study proposes an adaptive graph algorithm for collision-free motion planning of articulated robots in dynamic environments.
For this purpose, deformations of the configuration space were analyzed according to the changes of the workspace using various simulations.
Subsequently, we adopted the principles of gas motion dynamics in our adaptation algorithm to address the issue of the deformation of the configuration space.
The proposed algorithm has an adaptation mechanism based on expansive repulsion and sensory repulsion, and it can be performed to provide the entire adaptation using distributed processing.
The simulation results confirmed that the proposed method allows the adaptation of the roadmap graph to changes of the configuration space.
American Psychological Association (APA)
Park, Jae-Han& Bae, Ji-Hun& Baeg, Moon-Hong. 2016. Adaptation Algorithm of Geometric Graphs for Robot Motion Planning in Dynamic Environments. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-19.
https://search.emarefa.net/detail/BIM-1112125
Modern Language Association (MLA)
Park, Jae-Han…[et al.]. Adaptation Algorithm of Geometric Graphs for Robot Motion Planning in Dynamic Environments. Mathematical Problems in Engineering No. 2016 (2016), pp.1-19.
https://search.emarefa.net/detail/BIM-1112125
American Medical Association (AMA)
Park, Jae-Han& Bae, Ji-Hun& Baeg, Moon-Hong. Adaptation Algorithm of Geometric Graphs for Robot Motion Planning in Dynamic Environments. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-19.
https://search.emarefa.net/detail/BIM-1112125
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112125