Obstacle avoidance influence coefficients for manipulator motion planning

Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005

Volumn 7 B, Issue , 2005, Pages 735-747

  Harden, Troy ^a   Kapoor, Chetan ^b   Tesar, Delbert ^b  

^a LOS ALAMOS NATIONAL LABORATORY   (United States)

^b UNIVERSITY OF TEXAS AT AUSTIN   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION AVOIDANCE; FUNCTION EVALUATION; INTELLIGENT AGENTS; MANIPULATORS; ROBOTICS;

COEFFICIENT CALCULATIONS; GEOMETRIC INFLUENCE; TARGET ACQUISITION;

MOTION PLANNING;

EID: 33244465591     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/detc2005-84223     Document Type: Conference Paper

References (40)

1. Thomas, M., and Tesar, D., 1982, "Dynamic Modeling of Serial Manipulator Arms," Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control, Vol. 104, pp. 218-228.
2. Perry, B. R. and Tesar, D., 1995, "The Development of Distance Functions and Their Higher-Order Properties for Artificial Potential Field-Based Obstacle Avoidance", University of Texas at Austin, Department of Mechanical Engineering, Report to the U. S. Department of Energy under Grant No. DE-FG01-94EW37966, and to NASA under NASA-OACT Grant No. NAG9-411.
3. Pryor, M., and Tesar, D., 2002, "Task-Based Resource Allocation for Improving the Reusability of Redundant Manipulators", University of Texas at Austin, Department of Mechanical Engineering, Report to the U. S. Department of Energy under Grant No. DE-FG0294EW37966.
4. Harden, T., and Tesar, D., 1997, The Implementation of Artificial Potential Field Based Obstacle Avoidance for a Redundant Manipulator, The University of Texas at Austin, Dept. of Mech. Engineering, Report to the U.S. Department of Energy under Grant No. DE-FG0294EW37966 and NASA under Grant No. NAG9-809.
5. Harden, T., Kapoor, C., and Tesar, D., 2002, Minimum Distance Influence Coefficients for Obstacle Avoidance in Manipulator Motion Planning, The University of Texas at Austin, Department of Mechanical Engineering, Report to the U.S. Department of Energy under Grant No. DEFG04-94EW37966 and Texas ATP under Grant No. 003658-0034-2001.
6. Hwang, Y.K., and Ahuja, N., 1992, "Gross Motion Planning - A Survey," ACM Computing Surveys, V24, No. 3, pp. 219-291.
7. Latombe, J.C., 1991, Robot Motion Planning, Boston, Kluwer Academic Publishers.
8. Canny, J.F., 1988, The Complexity of Robot Motion Planning, The MIT Press, Cambridge, Mass.
9. Kavraki, L., Svestka, P., Latombe, J.C., and Overmars, M.H., 1996, "Probabilistic Roadmaps for Path Planning in High Dimensional Configuration Spaces," IEEE Transactions on Robotics and Automation, V12, pp. 566580.
10. Svestka, P., and Overmars, M.H., 1998, "Probabilistic Path Planning," Robot Motion Planning and Control, J.P. Laumond, Editor, Springer-Verlag, pp. 255-304.
11. Schwartz, J.T., and Sharir, M., 1983, "On the 'Piano Movers' Problem. II. General Techniques for Computing Topological Properties of Real Algebraic Manifolds," Advances in Applied Mathematics, V4, pp. 298-351.
12. Lozano-Perez, T., 1987, "A Simple Motion-Planning Algorithm for General Robot Manipulators," IEEE Journal of Robotics and Automation, Vol. RA-3, No. 3 (June), pp. 224-238.
13. Hogan, N., 1985, "Impedance Control: An Approach to Manipulation," ASME Journal of Dynamics Systems, Measurement, and Control, V107, pp. 1-24.
14. Khatib, O., 1986, "Real-Time Obstacle Avoidance for Manipulators and Mobile Robots," International Journal of Robotics Research, V5, No. 1, pp. 90-98.
15. Koditschek, D.E., 1989, "Robot Planning and Control Via Potential Functions," Robotics Review, V1, O. Khatib, J. Craig, and T. Lozano-Perez, Editors, MIT Press, Cambridge.
16. Koren, Y., and Borenstein, J., 1991, "Potential Field Methods and Their Inherent Limitations For Mobile Robot Navigation," Proceedings, IEEE International Conference on Robotics and Automation, pp. 1398-1404.
17. Quinlan and Khatib, 1993, "Elastic Bands: Connecting Path Planning and Control," Proceeding, IEEE Conference on Robotics and Automation, pp 802-807.
18. Guldner, J., Utkin, V.I., Hashimoto, H., and Harashima, F., 1995, "Obstacle Avoidance in Rn Based on Artificial Harmonic Potential Fields," Proceedings, IEEE International Conference on Robotics and Automation, pp. 3051-3056.
19. Cho, W.J., and Kwon, D.S., 1996, "A Sensor-Based Obstacle Avoidance for a Redundant Manipulator Using a Velocity Potential Function," Proceedings, IEEE International Workshop on Robot and Human Communication, pp. 306-310.
20. Conkur, E.S., and Buckingham, R., 1997, "Manoeuvring Highly Redundant Manipulators," Robotica, V15, pp. 435-447.
21. Feder, H.J.S., and Slotine, J.J.E., 1997, "Real-Time Path Planning Using Harmonic Potentials In Dynamic Environments," Proceedings, IEEE International Conference on Robotics and Automation, pp. 874-881.
22. Singh, L., Wen, J., and Stephanou, H., 1997, "Motion Planning and Dynamic Control of a Linked Manipulator Using Modified Magnetic Fields," Proceedings, IEEE International Conference on Robotics and Automation, pp. 1142-1147.
23. Zhao, C.S., and Farooq, M., 1997, "Planning the Motion for a Manipulator in a Dynamic Environment," Proceedings, International Conference on Industrial Electronics, Control and Instrumentation, pp. 1361-1366.
24. Harden, T., Kapoor, C., and Tesar, D., 1999, "Experimental Evaluation of a Criteria-Based Obstacle Avoidance Scheme," Proceedings, ASME Design Engineering Technical Conferences, Las Vegas, Nevada.
25. Brock, O., 1999. "Generating Robot Motion: The Integration of Planning and Execution," Ph.D. Dissertation, Stanford University, Department of Computer Science.
26. Seraji, H., and Bon, B., 1999, "Real-Time Collision Avoidance for Position-Controlled Manipulators," IEEE Transactions on Robotics and Automation, V15, No. 4 (August), pp. 670-677.
27. Maciejewski, A. A. and Klein, C. A., 1985 "Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments", The International Journal of Robotics Research, V4, No. 3, pp. 109-117.
28. Gilbert, E.G., Johnson, D.W., and Keerthi, S.S., 1988, "A Fast Procedure for Computing the Distance Between Complex Objects in Three-Dimensional Space", IEEE Journal of Robotics and Automation, V4, No. 2, April 1988, pp. 193-203.
29. Cameron, S., 1997a, "Enhancing GJK: Computing Minimum and Penetration Distances Between Convex Polyhedra", Proceedings, IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 1997, pp. 3112-3117.
30. Cameron, S., 1997b, "A Comparison of Two Fast Algorithms for Computing the Distance Between Convex Polyhedra", IEEE Transactions on Robotics and Automation, December 1997, pp. 915-920.
31. Mirtich, B., 1997, "V-Clip: Fast and Robust Polyhedral Collision Detection," Technical Report TR-97-05, Mitsubishi Electric Research Laboratory, Cambridge, MA.
32. Sreedhar, R. and Tesar, D., 1990, "Potential Function Based Obstacle Avoidance Algorithm for Manipulators With Extra Defrees of Freedom", University of Texas at Austin, Department of Mechanical Engineering, Report to the U. S. Department of Energy under Grant No. DEFG02-86NE37966.
33. Rimon E. and Boyd S.P., 1997, "Obstacle Collision Detection Using Best Ellipsoid Fit", Journal of Intelligent and Robotic Systems, V18, No. 2, pp. 105-126.
34. del Pobil, A. P., Pérez, M., and Martinez, B., 1996, "A Practical Approach to Collision Detection Between General Objects", Proceedings, IEEE International Conf. on Robotics and Automation, Minneapolis, Minnesota, April 1996, pp. 779-784.
35. Greenspan, M. and Burtnyk, N., 1996, "Obstacle Count Independent Real-Time Collision Avoidance", Proceedings, IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April 1996, pp. 1073-1080.
36. Lin, M.C., and Gottschalk, S., 1998, "Collision Detection between Geometric Models: A Survey," Proceedings, IMA Conference on Mathematics of Surfaces, Birmingham, UK.
37. Freeman, R.A., and Tesar, D., 1988, "Dynamic Modeling of Serial and Parallel Mechanisms / Robotic Systems: Part 1 - Methodology," Trends and Dev. in Mechanism, Machines, and Robotics- 1988, DE-V15-3, pp. 7-18.
38. Nash and Sofer, 1996, Linear and Nonlinear Programming, New York, The McGraw-Hill Companies, Inc.
39. Cetin, M., and Tesar, D., 1999, "Performance Identification and Multi-Criteria Redundancy Resolution For Robotic Systems,' Ph.D. Dissertation, University of Texas at Austin.
40. Hooper, R. and Tesar, D., 1994, "Multicriteria Inverse Kinematics for General Serial Robots", University of Texas at Austin, Department of Mechanical Engineering, Report to the U. S. Department of Energy under Grant No. DOE-FG-86NE37966.