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

Civil Engineering

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