Motion Planning by T-RRT with Potential Function for Vertical Articulated Robots

被引：11

作者：

Kabutan, Ryo ^{[1
]}

Nishida, Takeshi ^{[2
]}

机构：

[1] Kyushu Inst Technol, Kitakyushu, Fukuoka, Japan

[2] Kyushu Inst Technol, Mech & Control Engn, Kitakyushu, Fukuoka, Japan

来源：

ELECTRICAL ENGINEERING IN JAPAN | 2018年 / 204卷 / 02期

关键词：

motion planning; RRT; T-RRT; potential function;

D O I：

10.1002/eej.23103

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

RRT (rapidly exploring random tree) with random sampling is an effective method for path planning, and is often used for robot manipulators. The RRT has many modified methods for applying various problems and conditions. Particularly, T-RRT (Transition-based RRT) one of those has advantage that it is able to adopt arbitrary evaluation function. In this paper, a novel path planning method based on the T-RRT is proposed for ensuring quality of a generated path. Then, its effectiveness is evaluated via comparison with other sampling-based methods using simulation of the industrial robot having seven DOFs.

引用

页码：34 / 43

页数：10

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