Real time collision avoidance algorithm

被引：0

作者：

Kim, Y.-G. ^{[1
]}

Naganathan, N.G. ^{[1
]}

Dukkipati, R.V. ^{[2
]}

机构：

[1] Mech., Industrial and Manufacturing, Engineering Department, University of Toledo, Toledo, OH

[2] School of Engineering, Fairfield University, Fairfield, CT

来源：

International Journal of Vehicle Design | 2000年 / 24卷 / 02期

关键词：

Algorithms - Computer simulation - End effectors - Industrial robots - Motion planning - Proximity sensors - Robotics;

D O I：

10.1504/ijvd.2000.005183

中图分类号：

学科分类号：

摘要：

A collision avoidance algorithm integrating use of proximity sensors was developed that can be adapted to any two-dimensional work area. The resulting algorithm also involves construction and continual update of an obstacle matrix using information acquired during earlier movements. A stationary robot was used to test the feasibility of the on-line component of the algorithm by guiding its end effector through an obstacle maze. The off-line algorithm Jim was simulated on a 80386-based personal computer.

引用

页码：224 / 242

页数：18

共 21 条

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