Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이지영 | - |
dc.date.accessioned | 2019-05-27T06:50:04Z | - |
dc.date.available | 2019-05-27T06:50:04Z | - |
dc.date.issued | 2015-02 | - |
dc.identifier.citation | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v. 229, No. 18, Page. 3361-3367 | en_US |
dc.identifier.issn | 0954-4062 | - |
dc.identifier.issn | 2041-2983 | - |
dc.identifier.uri | https://journals.sagepub.com/doi/full/10.1177/0954406215573600 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/106023 | - |
dc.description.abstract | This article proposes a method for the path planning of high-degree-of-freedom articulated robots with adaptive dimensionality. For efficient path planning in a high-dimensional configuration space, we first describe an adaptive body selection that selects the robot bodies depending on the complexity of the path planning. Then, the involved joints of the selected body are included in the planning process. That is, it builds the C-space (configuration space) with adaptive dimensionality for sampling-based path planner. Next, by using adaptive body selection, the adaptive rapidly-exploring random tree (RRT) algorithm is introduced, which incrementally grows RRTs in the adaptive dimensional C-space. We show through several simulation results that the proposed method is more efficient than the basic RRT-based path planner, which requires full-dimensional planning. | en_US |
dc.description.sponsorship | The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported by the research fund of Hanyang University (HY-2012-P). | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | SAGE PUBLICATIONS LTD | en_US |
dc.subject | Path planning | en_US |
dc.subject | motion planning | en_US |
dc.subject | rapidly-exploring random tree | en_US |
dc.subject | high degree-of-freedom articulated robot | en_US |
dc.title | Adaptive rapidly-exploring random tree for efficient path planning of high-degree-of-freedom articulated robots | en_US |
dc.type | Article | en_US |
dc.relation.no | 18 | - |
dc.relation.volume | 229 | - |
dc.identifier.doi | 10.1177/0954406215573600 | - |
dc.relation.page | 3361-3367 | - |
dc.relation.journal | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | - |
dc.contributor.googleauthor | Kim, Dong-Hyung | - |
dc.contributor.googleauthor | Choi, Youn-Sung | - |
dc.contributor.googleauthor | Kim, Sang-Ho | - |
dc.contributor.googleauthor | Wu, Jing | - |
dc.contributor.googleauthor | Yuan, Chao | - |
dc.contributor.googleauthor | Luo, Lu-Ping | - |
dc.contributor.googleauthor | Lee, Ji Yeong | - |
dc.contributor.googleauthor | Han, Chang-Soo | - |
dc.relation.code | 2015001293 | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DEPARTMENT OF ROBOT ENGINEERING | - |
dc.identifier.pid | jiyeongl | - |
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