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Pseudo minimum translational distance between convex polyhedra (II)

Robot collision-free path planning

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Abstract

By using the pseudo minimum translational distance between convex objects, this paper presents two algorithms for robot path planning. First, an analytically tractable potential field is defined in the robot configuration space, and the concept, of virtual obstacles is introduced and incorporated in the path planner to handle the local minima of the potential function. Second, based on the Lipschitz continuity and differentiability of the pseudo minimum translational distance, the flexible-trajectory approach is implemented. Simulation examples are given to show the effectiveness and efficiency of the path planners for both mobile robots and manipulators.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Southeast University, 210096, Nanjing, China

    Xiangyang Zhu & Han Ding

  2. School of Mechanical Science & Engineering, Huazhong University of Science & Technology, 430074, Wuhan, China

    Youlun Xiong

Authors
  1. Xiangyang Zhu
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  2. Han Ding
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  3. Youlun Xiong
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Zhu, X., Ding, H. & Xiong, Y. Pseudo minimum translational distance between convex polyhedra (II). Sci. China Ser. E-Technol. Sci. 44, 337–344 (2001). https://doi.org/10.1007/BF02916684

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  • DOI: https://doi.org/10.1007/BF02916684

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