Random Triangle Sampling Path Planning of Assembly/Disassembly in Environment with Dangerzones

摘要：

To solve the assembly/disassembly path planning in the environment with danger zones, a RRT-based path planning algorithm was presented. The algorithm addressed a random sampling function which obtains random state from the triangles that describe the dangerzones. The local planner connecting the samples with RRT tree is also introduced.Experimental results show that the algorithm much more effectively searches the paths between dangerzones and obstacles.

关键词： path planning random sampling rapidlyexplorating random tree configuration space constraints

作者: PENG Fei ZHAO Yao

作者单位: Huazhong University of Science and Technology, Wuhan, Hubei, 430072, China

会议类型: 国际会议

会议名称: 2010 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2010)(2010年检测技术与机电自动化国际会议)

会议地点: 长沙

会议语种:英文

页码: 2097-2101

在线出版日期: 2010-03-13（万方平台首次上网日期，不代表论文的发表时间）