Complete path planning for a planar 2-R manipulator with point obstacles

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 4, 2004, Pages 3263-3269

  Liu, G F ^a   Trinkle, J C ^a   Milgram, R J ^b  

^a Rensselaer Polytechnic Institute   (United States)

^b STANFORD UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COLLISION AVOIDANCE; IMAGE CODING; MANIPULATORS; MATHEMATICAL MODELS; MOTION ESTIMATION; PROBLEM SOLVING;

EXPLICIT ALGORITHMS; FIBRATION; POINT OBSTACLES; PROBABILISTIC ROADMAP METHOD (PRM);

MOTION PLANNING;

EID: 3042556482     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1308757     Document Type: Conference Paper

References (9)

1. J.P. Canny, The Complexity of Robot Motion Planning. Cambridge, MA: MIT Press, 1988.
2. L.E. Kavraki, P. Švestka, J.C. Latombe, and M.H. Overmars, Probablistic Roadmaps for path planning in high-dimensional configuration space. IEEE Transactions on Robotics and Automation, 12 (4):566-580, 1996.
3. C. Bajaj and M.S. Kim, Generation of configuration space obstacles: The case of a moving sphere. IEEE Journal on Robotics and Automation, RA-4:94-99, 1988.
4. M.S. Branicky and W.S. Newman, Rapid computation of configuration space obstacles. in Proceedings of IEEE International Conference on Robotics and Automation, 304-310, 1990.
5. R.C. Brost, Computing metric and topological properties of configuration-space obstacles. in Proceedings of IEEE International Conference on Robotics and Automation, 170-176, 1989.
6. W. Meyer and P. Benedict, Path Planning and the geometry of joint space obstacles. in Proceedings of IEEE International Conference on Robotics and Automation, 215-219, 1988.
7. A.A. Maciejewski and J.J. Fox, Path Planning and the Topology of Configuration Space. IEEE Transactions on Robotics and Automation, Vol. 9, No. 4, Aug., 1993.
8. F.R. Cohen, R.L. Cohen, B.M. Mann, R.J. Milgram, The topology of rational functions and divisors of surfaces, Acta Math., Vol. 166(1991), 162-221.
9. V. A. Vassiliev, Complements of Discriminants of Smooth Maps. Topology and Applications, Amer. Math. Soc., (1992)