Abstract
We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace. We define a varying potential field f on ∂ as a Morse function and followf . We then exemplify our algorithm on a redundant worm climbing robot with n degrees of freedom and compare our algorithm running results with those of the PRM.
| Original language | English |
|---|---|
| Pages (from-to) | 1327-1335 |
| Number of pages | 9 |
| Journal | Robotica |
| Volume | 31 |
| Issue number | 8 |
| DOIs | |
| State | Published - 1 Dec 2013 |
Keywords
- Climbing robots
- Legged robots
- Motion planning
- Open chain
- Path planning
- Redundant manipulators
- Serial manipulator design and kinematics
All Science Journal Classification (ASJC) codes
- Software
- Mechanical Engineering
- Control and Optimization
- Artificial Intelligence
- Rehabilitation
- Control and Systems Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications
- Computational Mechanics
- General Mathematics
- Modelling and Simulation