Automatic Generation of Collision Free Path for a Robot
Original Publication Date: 1989-May-01
Included in the Prior Art Database: 2005-Jan-27
This article describes the automatic generation of a collision-free path for a robot among moving objects. A wave is generated from the robot's starting point and expands while avoiding moving obstacles. After the wave reaches the goal point, the history of the wave is traced and a collision-free path is generated. The structure of this algorithm is shown in the figure. In an N-dimensional configuration space where a robot has N degrees of freedom, the configuration of a robot is represented as a point by using joint angles as coordinates. Let the initial configuration of the robot be ri and the goal configuration be rg . Let the location of an obstacle at time t be O(t). First, a wave in the configuration space is generated from point ri . The wave expands with time, and it collides with the obstacle at a certain time.