Robotic Manipulation Planning using Dynamic RRT
文献类型：会议论文
| 作者 | HaoDeng; ZeyangXia; Jing Xiong |
| 出版日期 | 2016 |
| 会议名称 | RCAR 2016 |
| 会议地点 | Angkor Wat, Cambodia |
| 英文摘要 | When a robot manipulator performs tasks in a dynamic unstructured environment, it not only should account for where and how it should move, but also ensure that the robot can effectively avoid collisions with static and moving obstacles. Planning in absolutely unstructured and dynamic environment is much more challenging, up-to-date there is no universal solution to this problem. In this paper, we believed the concept that for motion planning in real dynamic environments, usually there is only a part of a path invalidated by obstacles, and only this part needs replanning. Thus, in this paper a practical strategy was presented for motion planning in dynamic environments. First, a variant dynamic Rapidly-exploring Random Tree (RRT) planner was designed to combine global planning with local replanning. Then, the proposed dynamic RRT algorithm was implemented under Robotic Operation System (ROS) framework and applied to a 7-degree-of-freedom manipulator. Experimental results have shown that the proposed dynamic RRT planner can plan and execute movement of robot manipulator between a starting and target position while preserving task constraints and reacting to environment changes in real time. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/10537]  |
| 专题 | 深圳先进技术研究院_医工所 |
| 作者单位 | 2016 |
| 推荐引用方式 GB/T 7714 | HaoDeng,ZeyangXia,Jing Xiong. Robotic Manipulation Planning using Dynamic RRT[C]. 见:RCAR 2016. Angkor Wat, Cambodia. |
入库方式： OAI收割
来源：深圳先进技术研究院
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