Local Path Planning for Dual-Arm Mobile Robot Shuttling within Truss

Wei Guo Wu; Peng Wu

doi:10.4028/www.scientific.net/AMR.452-453.1220

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 452-453Local Path Planning for Dual-Arm Mobile Robot...

Local Path Planning for Dual-Arm Mobile Robot Shuttling within Truss

Abstract:

A new local path planning method for dual-arm mobile robot shuttling within the truss is presented. Like the probabilistic roadmaps method, this method proceeds in two stages: preprocessing stage and path planning stage. In preprocessing stage, the workspace is divided into a set of non-overlapping cubical cells. The nodes in the free workspace are stored in a matrix. In path planning stage, three query strategies are adopted to search the path from start point to goal point. Take use of vertex query strategy, the smooth path can be acquired in a fraction of a second. The algorithm is simple, and is applicable to any static environment with convex obstacles.

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Periodical:

Advanced Materials Research (Volumes 452-453)

Pages:

1220-1224

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.452-453.1220

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Online since:

January 2012

Authors:

Wei Guo Wu, Peng Wu

Keywords:

Cubical Cell, Dual-Arm Mobile Robot, Local Path Planning, Query Strategy

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