Title:
Homotopic Path Planning on Manifolds for Cabled Mobile Robots
Homotopic Path Planning on Manifolds for Cabled Mobile Robots
Author(s)
Igarashi, Takeo
Stilman, Mike
Stilman, Mike
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Abstract
We present two path planning algorithms for mobile robots that are connected
by cable to a fixed base. Our algorithms efficiently compute the shortest path
and control strategy that lead the robot to the target location considering cable length
and obstacle interactions. First, we focus on cable-obstacle collisions. We introduce
and formally analyze algorithms that build and search an overlapped configuration
space manifold. Next, we present an extension that considers cable-robot collisions.
All algorithms are experimentally validated using a real robot.
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Date Issued
2010
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Text
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Proceedings