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Comparison of motion planners in an environment with removable obstacles

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10.1109/ETFA.2015.7301516
 
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hdl:2117/82398

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Rodríguez Pacheco, Carlos
Suárez Feijóo, RaúlMés informacióMés informacióMés informació
Document typeConference lecture
Defense date2015
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessRestricted access - publisher's policy
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
Abstract
This work deals with the problem of motion planning for a robotic system with two arms, considering the possibility of using one arm to remove potential obstacles in order to get a collision-free path to reach a desired object with the other arm. The paper compares different motion planning algorithms based on random sampling methods. In the used framework the planners do not discard the samples that imply collision with removable objects, instead these samples are classified according to the obstacles that produce a collision and then processed to decided whether it is necessary to remove these obstacles to get a proper free path. The efficiency of the motion planners are compared by solving planning problems in three different scenarios.
CitationRodriguez, C., Suarez, R. Comparison of motion planners in an environment with removable obstacles. A: IEEE International Conference on Emerging Technologies and Factory Automation. "2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA 2015): Luxembourg, 8-11 September 2015". Luxembourg: Institute of Electrical and Electronics Engineers (IEEE), 2015. 
URIhttp://hdl.handle.net/2117/82398
DOI10.1109/ETFA.2015.7301516
ISBN978-1-4673-7930-4
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  • IOC - Institut d'Organització i Control de Sistemes Industrials - Ponències/Comunicacions de congressos [143]
  • SIR - Service and Industrial Robotics - Ponències/Comunicacions de congressos [118]
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