Improved Distorted Configuration Space Path Planning and Its Application to Robot Manipulators
Real-time obstacle avoidance path planning is critically important for a robot when it operates in a crowded or cluttered workspace. At the same time, the computational cost is a big concern once the degree of freedom (DOF) of a robot is high. A novel path planning strategy, the distorted configurat...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-10-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/20/21/6060 |
| _version_ | 1797549886270341120 |
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| author | Yangmin Xie Rui Zhou Yusheng Yang |
| author_facet | Yangmin Xie Rui Zhou Yusheng Yang |
| author_sort | Yangmin Xie |
| collection | DOAJ |
| description | Real-time obstacle avoidance path planning is critically important for a robot when it operates in a crowded or cluttered workspace. At the same time, the computational cost is a big concern once the degree of freedom (DOF) of a robot is high. A novel path planning strategy, the distorted configuration space (DC-space) method, was proposed and proven to outperform the traditional search-based methods in terms of computational efficiency. However, the original DC-space method did not sufficiently consider the demands on automatic planning, convex space preservation, and path optimization, which makes it not practical when applied to the path planning for robot manipulators. The treatments for the problems mentioned above are proposed in this paper, and their applicability is examined on a three DOFs robot. The experiments demonstrate the effectiveness of the proposed improved distorted configuration space (IDCS) method on rapidly finding an obstacle-free path. Besides, the optimized IDCS method is presented to shorten the generated path. The performance of the above algorithms is compared with the classic Rapidly-exploring Random Tree (RRT) searching method in terms of their computation time and path length. |
| first_indexed | 2024-03-10T15:21:46Z |
| format | Article |
| id | doaj.art-7a9e6ac8e2c54fea88513645da31b7d8 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T15:21:46Z |
| publishDate | 2020-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-7a9e6ac8e2c54fea88513645da31b7d82023-11-20T18:25:52ZengMDPI AGSensors1424-82202020-10-012021606010.3390/s20216060Improved Distorted Configuration Space Path Planning and Its Application to Robot ManipulatorsYangmin Xie0Rui Zhou1Yusheng Yang2Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444, ChinaShanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444, ChinaShanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444, ChinaReal-time obstacle avoidance path planning is critically important for a robot when it operates in a crowded or cluttered workspace. At the same time, the computational cost is a big concern once the degree of freedom (DOF) of a robot is high. A novel path planning strategy, the distorted configuration space (DC-space) method, was proposed and proven to outperform the traditional search-based methods in terms of computational efficiency. However, the original DC-space method did not sufficiently consider the demands on automatic planning, convex space preservation, and path optimization, which makes it not practical when applied to the path planning for robot manipulators. The treatments for the problems mentioned above are proposed in this paper, and their applicability is examined on a three DOFs robot. The experiments demonstrate the effectiveness of the proposed improved distorted configuration space (IDCS) method on rapidly finding an obstacle-free path. Besides, the optimized IDCS method is presented to shorten the generated path. The performance of the above algorithms is compared with the classic Rapidly-exploring Random Tree (RRT) searching method in terms of their computation time and path length.https://www.mdpi.com/1424-8220/20/21/6060path planningobstacle avoidancerobot manipulatordistorted configuration space |
| spellingShingle | Yangmin Xie Rui Zhou Yusheng Yang Improved Distorted Configuration Space Path Planning and Its Application to Robot Manipulators Sensors path planning obstacle avoidance robot manipulator distorted configuration space |
| title | Improved Distorted Configuration Space Path Planning and Its Application to Robot Manipulators |
| title_full | Improved Distorted Configuration Space Path Planning and Its Application to Robot Manipulators |
| title_fullStr | Improved Distorted Configuration Space Path Planning and Its Application to Robot Manipulators |
| title_full_unstemmed | Improved Distorted Configuration Space Path Planning and Its Application to Robot Manipulators |
| title_short | Improved Distorted Configuration Space Path Planning and Its Application to Robot Manipulators |
| title_sort | improved distorted configuration space path planning and its application to robot manipulators |
| topic | path planning obstacle avoidance robot manipulator distorted configuration space |
| url | https://www.mdpi.com/1424-8220/20/21/6060 |
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