Path-planning research of robots based on wave expansion algorithm
文献类型：会议论文
| 作者 | Liu SC(刘世成); Dong ZL(董再励) ; Sun MX(孙茂相); Cui MY(崔茂源)
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| 出版日期 | 2004 |
| 会议名称 | 5th World Congress on Intelligent Control and Automation |
| 会议日期 | June 15-19, 2004 |
| 会议地点 | Hangzhou, China |
| 页码 | 4725-4729 |
| 中文摘要 | Instead of using the tedious process of robot teaching, an off-line path planning algorithm based on wave expansion method has been developed for industrial robots. The continuous Cartesian W-space in world coordinates is discretized into an equidistant 3D-grid and then the free points and obstacle points are indicated by different numbers. By use of the wave expansion method, the free points are further assigned a marked number. The path is found based on the assigned marked number via wave expansion method. As comparison, depth-first search method is presented. The proposed algorithm is tested on a 6-DOF industrial robot and the expected results are obtained. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | IEEE |
| 会议录 | Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/8826]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Liu SC,Dong ZL,Sun MX,et al. Path-planning research of robots based on wave expansion algorithm[C]. 见:5th World Congress on Intelligent Control and Automation. Hangzhou, China. June 15-19, 2004. |
入库方式： OAI收割
来源：沈阳自动化研究所
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