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A Graph-Searching Approach to Trajectory Planning of Robots

Published online by Cambridge University Press:  09 March 2009

Witold Jacak ,
Ignacy Dulęba  and
Paweł Rogalinski
Witold Jacak
Affiliation:
Institute of Engineering Cybernetics, Technical University of Wroclaw, Janiszewskiego 11/17, 50–372 Wroclaw (Poland)
Ignacy Dulęba
Affiliation:
Institute of Engineering Cybernetics, Technical University of Wroclaw, Janiszewskiego 11/17, 50–372 Wroclaw (Poland)
Paweł Rogalinski
Affiliation:
Institute of Engineering Cybernetics, Technical University of Wroclaw, Janiszewskiego 11/17, 50–372 Wroclaw (Poland)
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Summary

A new method of optimal cost trajectory planning based on a graph searching algorithm is presented. Various heuristic functions which play the key role in the construction of effective algorithms for solving such problems are proposed. Some numerical examples are given based on the kinematic and dynamic models of a IRb-6 ASEA robot. This method rooted in AI has less computational complexity than a dynamical programming method applying to the same optimal-cost trajectory planning problem.

Keywords

Trajectory planningGraph searchingHeuristic functionIndustrial robots
Type
Research Article
Information
Robotica , Volume 10 , Issue 6 , November 1992 , pp. 531 - 537
Copyright
Copyright © Cambridge University Press 1992

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References

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