제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A robot motion planning method for time-varying obstacle avoidance

  • Ko, Nak-Yong (Department of Control and Instrumentation Eng., Chosun Univ., Gwangjoo 501-759) ;
  • Lee, Bum-Hee (Department of Control and Instrumentation Eng., Seoul National Univ.) ;
  • Ko, Myoung-Sam (Department of Control and Instrumentation Eng., Seoul National Univ.)
  • Published : 1992.10.01
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Abstract

An analytic solution approach to the time-varying obstacle avoidance problem is pursued. We formulate the problem in robot joint space(JS), and introduce the view-time concept to deal with the time-varying obstacles. The view-time is a set of continuous times in which a time-varying obstacle is viewed and approximated by an equivalent stationary obstacle. The equivalent stationary obstacle is transformed into the JS obstacle. In JS, the path and trajectory avoiding the JS obstacle is planned.

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