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초록
This paper presents a new roadmap which is called the two-link generalized Voronoi graph (two-link GVG). This roadmap can be used to explore an unknown planar workspace and built a roadmap in an unknown configuration space 2 × T2 for a planar two-link rigid bodies. This method is based on the rod generalized Voronoi graph (rod-GVG). The two-link GVG can be constructed using only sensor-provided information. Furthermore, this approach is worth drawing on the experience of any other highly articulated robots. © 2013 IEEE.
키워드
generalized Voronoi diagram; motion planning; roadmap; sensor-based planning; Two-link rigid bodies; Motion planning; Rigid structures; Articulated robots; Configuration space; Generalized Voronoi diagram; Generalized voronoi graphs; Rigid body; Roadmap; Sensor-based planning; Two-link rigid robots; Robot programming
- 제목
- Sensor-based planning for planar two-link rigid robot
- 저자
- Shao, M.; Lee, J.; Han, C.
- 발행일
- 2013-01
- 유형
- Conference Paper
- 저널명
- 2013 IEEE Conference Anthology, ANTHOLOGY 2013
- 페이지
- 1 ~ 4
- 언어
- ENG
- 출판사
- IEEE Computer Society
- 분량
- 4 페이지
- ISSN
- P 0000-0000