Approximate free space construction and maximum clearance path planning for a four degree of freedom robot

Chloe Arluck, Victor Milenkovic, Elisha Sacks

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

We present an algorithm for constructing an inner approximation of the free space for a polyhedral robot with four degrees of freedom. The robot rotates about a fixed axis and translates in three dimensions with respect to a fixed polyhedral obstacle. We approximate the free space by subdividing the rotation dimension into short angle ranges, generating a three dimensional free space for each angle range, and constructing a graph for navigation in the four dimensional space. We also present an algorithm for path planning that is complete in the approximated space. The path planning algorithm produces paths that are guaranteed to be collision free and approximately maximizes obstacle clearance, ensuring safe and practical paths.

Original languageEnglish (US)
Pages223-229
Number of pages7
StatePublished - Jan 1 2018
Event30th Canadian Conference on Computational Geometry, CCCG 2018 - Winnipeg, Canada
Duration: Aug 8 2018Aug 10 2018

Conference

Conference30th Canadian Conference on Computational Geometry, CCCG 2018
CountryCanada
CityWinnipeg
Period8/8/188/10/18

Fingerprint

Path Planning
Free Space
Clearance
Motion planning
Robot
Degree of freedom
Robots
Angle
Path
Range of data
Three-dimension
Navigation
Collision
Maximise
Three-dimensional
Approximation
Graph in graph theory

ASJC Scopus subject areas

  • Geometry and Topology
  • Computational Mathematics

Cite this

Arluck, C., Milenkovic, V., & Sacks, E. (2018). Approximate free space construction and maximum clearance path planning for a four degree of freedom robot. 223-229. Paper presented at 30th Canadian Conference on Computational Geometry, CCCG 2018, Winnipeg, Canada.

Approximate free space construction and maximum clearance path planning for a four degree of freedom robot. / Arluck, Chloe; Milenkovic, Victor; Sacks, Elisha.

2018. 223-229 Paper presented at 30th Canadian Conference on Computational Geometry, CCCG 2018, Winnipeg, Canada.

Research output: Contribution to conferencePaper

Arluck, C, Milenkovic, V & Sacks, E 2018, 'Approximate free space construction and maximum clearance path planning for a four degree of freedom robot', Paper presented at 30th Canadian Conference on Computational Geometry, CCCG 2018, Winnipeg, Canada, 8/8/18 - 8/10/18 pp. 223-229.
Arluck C, Milenkovic V, Sacks E. Approximate free space construction and maximum clearance path planning for a four degree of freedom robot. 2018. Paper presented at 30th Canadian Conference on Computational Geometry, CCCG 2018, Winnipeg, Canada.
Arluck, Chloe ; Milenkovic, Victor ; Sacks, Elisha. / Approximate free space construction and maximum clearance path planning for a four degree of freedom robot. Paper presented at 30th Canadian Conference on Computational Geometry, CCCG 2018, Winnipeg, Canada.7 p.
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