Time-varying obstacle avoidance for robot manipulators: Approaches and difficulties

Proceedings. 1987 IEEE International Conference on Robotics and Automation Pub Date : 1987-03-01 DOI:10.1109/ROBOT.1987.1087742

B. Lee, Y. Chien

引用次数: 6

Abstract

This paper addresses an overview of time-varying obstacle avoidance problems for robotic manipulators. We propose four different approaches to solving these problems. They are the Heuristic Off-line (HOF) approach, the Heuristic On-line (HON) approach, the Analytic Off-line (AOF) approach, and the Analytic On-line (AON) approach. The AOF approach is particularly pursued and derived in this paper. Some fundamental difficulties are then discussed in the AOF approach. It is shown that the analytic approach is not always successful in solving the time-varying obstacle avoidance problems.

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机械臂的时变避障方法与难点

本文综述了机械臂的时变避障问题。我们提出了四种不同的方法来解决这些问题。它们是启发式离线(HOF)方法、启发式在线(HON)方法、分析式离线(AOF)方法和分析式在线(AON)方法。本文特别探讨和推导了AOF方法。然后讨论了AOF方法中的一些基本困难。结果表明，解析方法在求解时变避障问题时并不总是成功的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings. 1987 IEEE International Conference on Robotics and Automation

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