Adaptive RRT를 사용한 고 자유도 다물체 로봇 시스템의 효율적인 경로계획
- Title
- Adaptive RRT를 사용한 고 자유도 다물체 로봇 시스템의 효율적인 경로계획
- Other Titles
- Efficient Path Planning of a High DOF Multibody Robotic System using Adaptive RRT
- Author
- 이지영
- Keywords
- Motion planning; Multibody robotic system; Path planning; Rapidly-exploring random tree
- Issue Date
- 2015-01
- Publisher
- 제어·로봇·시스템학회
- Citation
- Journal of Institute of Control, Robotics and Systems, v. 21.0, NO. 3.0, Page. 257-264
- Abstract
- This paper proposes an adaptive RRT (Rapidly-exploring Random Tree) for path planning of high DOF multibody robotic system. For an efficient path planning in high-dimensional configuration space, the proposed algorithm adaptively selects the robot bodies depending on the complexity of path planning. Then, the RRT grows only using the DOFs corresponding with the selected bodies. Since the RRT is extended in the configuration space with adaptive dimensionality, the RRT can grow in the lower dimensional configuration space. Thus the adaptive RRT method executes a faster path planning and smaller DOF for a robot. We implement our algorithm for path planning of 19 DOF robot, AMIRO. The results from our simulations show that the adaptive RRT-based path planner is more efficient than the basic RRT-based path planner.
- URI
- https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE06218752https://repository.hanyang.ac.kr/handle/20.500.11754/178424
- ISSN
- 1976-5622
- DOI
- 10.5302/J.ICROS.2015.14.0095
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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