Conference proceeding
Time optimal navigation via slack time sets
Proceedings. 1988 IEEE International Conference on Robotics and Automation, v 1, pp 650-651
1988
Abstract
An algorithm for determining the minimum-time obstacle avoidance trajectory for a robot is presented. Since different joints, when moved independently, may reach their desired end values at different times, any delay of a joint, other than the slowest, will not affect the total time of motion. This natural redundancy is used with obstacle avoidance to simplify any path search algorithm by at least one order of magnitude (one degree of freedom less). By neglecting the presence of all obstacles and assigning to each actuator maximum control torque (bang-bang), a lower-bound estimate of the time T/sub task/ needed to complete a task is calculated. The A/sup */ heuristic search is used to search the subset of the state space which contains only those states which are members of a trajectory with a task time equal to T/sub task/. If no trajectory is found during the initial search, the subset of the state space being examined is sequentially increased until a valid trajectory is found. Since, in general, the minimum-time obstacle avoidance trajectory is not unique, secondary constraints such as minimum distance in the state space and others can also be satisfied.< >
Metrics
4 Record Views
Details
- Title
- Time optimal navigation via slack time sets
- Creators
- S.C Zaharakis - Drexel UniversityA Guez - Drexel University
- Publication Details
- Proceedings. 1988 IEEE International Conference on Robotics and Automation, v 1, pp 650-651
- Conference
- 1988 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Number of pages
- 1
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- Electrical and Computer Engineering
- Other Identifier
- 991019182665404721