Evaluation of a New Backtrack Free Path Planning Algorithm for Manipulators
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概要
- 論文の詳細を見る
This paper evaluates a newly proposed backtrack free path planning algorithm (BFA) for manipulators. BFA is an exact algorithm, i.e. it is resolution complete. Different from existing resolution complete algorithms, its computation time and memory space are proportional to the number of arms. Therefore paths can be calculated within practical and predetermined time even for manipulators with many arms, and it becomes possible to plan complicated motions of multi-arm manipulators in fully automated environments. The performance of BFA is evaluated for 2-dimensional environments while changing the number of arms and obstacle placements. Its performance under locus and attitude constraints is also evaluated. Evaluation results show that the computation volume of the algorithm is almost the same as the theoretical one, i.e. it increases linearly with the number of arms even in complicated environments. Moreover BFA achieves the constant performance independent of environments.
- 社団法人 電気学会の論文
- 2008-08-01
著者
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Islam Md.
Graduate School Of Engineering University Of Fukui
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Islam Md.
Graduate School Of Agriculture Kyoto University
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Tamura Shinsuke
Graduate School Of Engineering Univ. Of Fukui
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Tamura Shinsuke
Graduate School Of Engineering University Of Fukui
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Yanase Tatsuro
Graduate School Of Engineering Univ. Of Fukui
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Yanase Tatsuro
Graduate School Of Engineering University Of Fukui
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MURATA Tomonari
Graduate School of Engineering, University of Fukui
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Murata Tomonari
Graduate School Of Engineering University Of Fukui
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