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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Vydané v:	International journal of advanced robotic systems Ročník 16; číslo 3
Hlavní autori:	Mi, Kai, Zhang, Haojian, Zheng, Jun, Hu, Jianhua, Zhuang, Dengxiang, Wang, Yunkuan
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	London, England SAGE Publications 01.05.2019 Sage Publications Ltd SAGE Publishing
Predmet:	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
On-line prístup:	Získať plný text
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