Planning of collision-free paths for holonic Blastman robots

Mika Rintala; Tapio A. Heikkila

doi:10.1117/12.325773

6 October 1998 Planning of collision-free paths for holonic Blastman robots

Mika Rintala, Tapio A. Heikkila

Proceedings Volume 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision; (1998) https://doi.org/10.1117/12.325773
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

Collision freeness is an essential feature in off-line programming of robots. It relates to safe and efficient operation, and becomes even more critical, when two or more robots are sharing the same work space, which is typical for so called holonic robot systems. Here we are reporting a simple and fast path planning algorithm based on configuration space method, suitable for holonic robot applications. The basic version of the algorithm can be found from the literature, and we have extended and modified it to improve its feasibility. Simulation and experimental tests have been carried out successfully.

Citation Download Citation

Mika Rintala and Tapio A. Heikkila "Planning of collision-free paths for holonic Blastman robots", Proc. SPIE 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, (6 October 1998); https://doi.org/10.1117/12.325773

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