A sampling-based optimized algorithm for task-constrained motion planning

doi:10.1177/1729881419847378

	A sampling-based optimized algorithm for task-constrained motion planning
	Mi, Kai 1,2; Zhang, Haojian 1,2; Zheng, Jun1 ; Hu, Jianhua 1; Zhuang, Dengxiang 1,2; Wang, Yunkuan 1
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2019-05-07
卷号	16 期号:3 页码:15
关键词	Redundant manipulators task space constraints path planning sampling based asymptotically optimization
ISSN号	1729-8814
DOI	10.1177/1729881419847378
通讯作者	Zheng, Jun(jun.zheng@ia.ac.cn)
英文摘要	We consider a motion planning problem with task space constraints in a complex environment for redundant manipulators. For this problem, we propose a motion planning algorithm that combines kinematics control with rapidly exploring random sampling methods. Meanwhile, we introduce an optimization structure similar to dynamic programming into the algorithm. The proposed algorithm can generate an asymptotically optimized smooth path in joint space, which continuously satisfies task space constraints and avoids obstacles. We have confirmed that the proposed algorithm is probabilistically complete and asymptotically optimized. Finally, we conduct multiple experiments with path length and tracking error as optimization targets and the planning results reflect the optimization effect of the algorithm.
资助项目	Major Science and Technology Project of Henan Province[161100210300]
WOS关键词	KINEMATIC CONTROL
WOS研究方向	Robotics
语种	英语
出版者	SAGE PUBLICATIONS INC
WOS记录号	WOS:000467615300001
资助机构	Major Science and Technology Project of Henan Province
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/24579]
专题	中国科学院自动化研究所
通讯作者	Zheng, Jun
作者单位	1.Chinese Acad Sci, Intelligent Mfg Technol & Syst Res Ctr, Inst Automat, Zhongguancun East Rd 95, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Mi, Kai,Zhang, Haojian,Zheng, Jun,et al. A sampling-based optimized algorithm for task-constrained motion planning[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2019,16(3):15.
APA	Mi, Kai,Zhang, Haojian,Zheng, Jun,Hu, Jianhua,Zhuang, Dengxiang,&Wang, Yunkuan.(2019).A sampling-based optimized algorithm for task-constrained motion planning.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,16(3),15.
MLA	Mi, Kai,et al."A sampling-based optimized algorithm for task-constrained motion planning".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 16.3(2019):15.