Preliminary communication

Robot Motion Planning by Limited Space Method

Mladen Crneković
Davor Zorc
Dubravko Majetić

Abstract

Robot motion planning in multidimensional space is very time-consuming and requires a big model; therefore, it is not very suitable for a real-time purpose. Limited space method (LSM) used here works with 3D real physical space (two translations and one rotation) and finds out a logical path (in the sense of the human solution faced with the same problem), rather than the optimal path (in the mathematical sense). Its main advantages are small model and short solution time. Although LSM is not as universal as the C-space, it has good potentiality for engineering applications.

Keywords

collision detection; motion planning; obstacle avoidance; limited space method

Hrčak ID:

6734

URI

https://hrcak.srce.hr/6734

Publication date:

20.12.2002.

Article data in other languages: croatian

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