A sampling-based optimized algorithm for task-constrained motion planning

We consider a motion planning problem with task space constraints in a complex environment for redundant manipulators. For this problem, we propose a motion planning algorithm that combines kinematics control with rapidly exploring random sampling methods. Meanwhile, we introduce an optimization str...

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Bibliographic Details
Published in:	International journal of advanced robotic systems Vol. 16; no. 3
Main Authors:	Mi, Kai, Zhang, Haojian, Zheng, Jun, Hu, Jianhua, Zhuang, Dengxiang, Wang, Yunkuan
Format:	Journal Article
Language:	English
Published:	London, England SAGE Publications 01.05.2019 Sage Publications Ltd SAGE Publishing
Subjects:	Algorithms Asymptotic properties Constraints Dynamic programming Feasibility Kinematics Motion planning Optimization Random sampling Sampling methods Task space Tracking errors path planning Redundant manipulators task space constraints sampling based asymptotically optimization
ISSN:	1729-8806, 1729-8814
Online Access:	Get full text
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