Repurposing A Sampling-Based Planner for A Six-Degree-Of-Freedom Manipulator to Avoid Unpredictable Obstacles
This paper presents the use of a sampling-based planner as a reactive planning scheme to avoid obstacles between a robotic arm and a moving obstacle. Based on a planner benchmark on an obstacle-ridden environment, a rapidly-exploring random tree (RRT) planner has been used to populate the trajecto...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IIUM Press, International Islamic University Malaysia
2023-01-01
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| Series: | International Islamic University Malaysia Engineering Journal |
| Subjects: | |
| Online Access: | https://journals.iium.edu.my/ejournal/index.php/iiumej/article/view/2642 |