Comparison of motion planners in an environment with removable obstacles
Tipus de documentComunicació de congrés
EditorInstitute of Electrical and Electronics Engineers (IEEE)
Condicions d'accésAccés restringit per política de l'editorial
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.
CitacióRodriguez, 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.