Maximizing the Coverage of Roadmap Graph for Optimal Motion Planning
Joint Authors
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-23, 23 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-11-08
Country of Publication
Egypt
No. of Pages
23
Main Subjects
Abstract EN
Automated motion-planning technologies for industrial robots are critical for their application to Industry 4.0.
Various sampling-based methods have been studied to generate the collision-free motion of articulated industrial robots.
Such sampling-based methods provide efficient solutions to complex planning problems, but their limitations hinder the attainment of optimal results.
This paper considers a method to obtain the optimal results in the roadmap algorithm that is representative of the sampling-based method.
We define the coverage of a graph as a performance index of its optimality as constructed by a sampling-based algorithm and propose an optimization algorithm that can maximize graph coverage in the configuration space.
The proposed method was applied to the model of an industrial robot, and the results of the simulation confirm that the roadmap graph obtained by the proposed algorithm can generate results of satisfactory quality in path-finding tests under various conditions.
American Psychological Association (APA)
Park, Jae-Han& Yoon, Tae-Woong. 2018. Maximizing the Coverage of Roadmap Graph for Optimal Motion Planning. Complexity،Vol. 2018, no. 2018, pp.1-23.
https://search.emarefa.net/detail/BIM-1136529
Modern Language Association (MLA)
Park, Jae-Han& Yoon, Tae-Woong. Maximizing the Coverage of Roadmap Graph for Optimal Motion Planning. Complexity No. 2018 (2018), pp.1-23.
https://search.emarefa.net/detail/BIM-1136529
American Medical Association (AMA)
Park, Jae-Han& Yoon, Tae-Woong. Maximizing the Coverage of Roadmap Graph for Optimal Motion Planning. Complexity. 2018. Vol. 2018, no. 2018, pp.1-23.
https://search.emarefa.net/detail/BIM-1136529
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1136529