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Rapid path planning for robotic manipulators using an emulated resistive grid

Rapid path planning for robotic manipulators using an emulated resistive grid

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The proposed update technique for computer emulated resistive grids propagates the node activities to and fro, thereby generating within only a few sweeps a well-spread potential distribution suitable for performing a gradient search for path planning in configuration space. The typical shapes of the forbidden areas in the manipulator's configuration space make this technique particularly fast. Tests with a real manipulator confirmed the validity of the approach.

References

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      • G. Bugmann , J.G. Taylor , M.J. Denham , J.G. Taylor . (1995) Route finding by neural nets, Neural networks.
    2. 2)
      • Althöfer, K., Bugmann, G.: `Planning and learning goal-directed sequences of robot-arm movements', Proc. 5th Int. Conf. on Artificial Neural Networks (ICANN), 9–13 October 1995, Paris, France, forthcoming.
    3. 3)
      • Connolly, C.I., Burns, J.B., Weiss, R.: `Path planning using Laplace's equation', IEEE Proc. Int. Conf. Robotics and Automation, 1990, p. 2102–2106.
    4. 4)
      • W.S. Newman , M.S. Branicky . Real-time configuration space transforms for obstacle avoidance. Int. J. Robotics Research , 6 , 650 - 667
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