ALGORITHM OF A MANIPULATING ROBOT MOVEMENTIN AN ENVIRONMENT WITH UNKNOWN OBSTACLES


Citar

Texto integral

Resumo

An algorithm is presented for a manipulating robot (MR) control in an unknown static environment. A theorem
is proved stating that following the algorithm the MR in a finite number of steps will either reach a target configuration
or come to the proved conclusion that the target configuration may not be reached. Given sequences from the theorem
facilitating the MR functioning in the unknown environment.

Bibliografia

  1. Ahrikhencheikh C., Seireg A. Optimized-Motion Planning: Theory And Implementation. Chichester : John Wiley & Sons, 1994.
  2. Principles of Robot Motion. Theory, Algorithms and Implementations / H. Choset [et al.]. Cambridge, Mass. : MIT Press, 2005.
  3. LaValle S. M. Planning Algorithms. 1999-2006. URL: http://msl.uiuc.edu/planning (data of visit: 30.06.2011).
  4. Canny J. The Complexity of Robot Motion Planning. Cambridge, Mass. : MIT Press, 1988.
  5. Collins G. E. Quantifier Elimination For Real Closed Fields By Cylindrical Algebraic Decomposition // Lecture Notes in Computer Sci. 1975. Vol. 33. P. 135-183.
  6. Нильсон Н. Искусственный интеллект. М. : Мир, 1973.
  7. Ильин В. А. Интеллектуальные роботы: теория и алгоритмы / Сиб. аэрокосмич. акад. - Красноярск, 1995.
  8. Lumelsky V. J. Sensing, intelligence, motion. How robots and humans move in an unstructured world. N. Y. : John Wiley & Sons, 2006.
  9. Chen C., Li H.-X., Dong D. Hybrid Control for Robot Navigation. A hierarchical Q-learning algorithm // IEEE Robotics & Automation Magazine. 2008. Vol. 15. № 2. P. 37-47. 10. Online Algorithms with Discrete Visibility. Exploring Unknown Polygonal Environments / S. K. Ghosh,
  10. J. W. Burdick, A. Bhattacharya, S. Sarkar // IEEE Robotics & Automatiom Magazine. 2008. Vol. 15. № 2. P. 67-76.
  11. Masehian E., Amin-Nasari M. R. Sensor-Based Robot Motion Planning. A Tabu Search Approach // IEEE Robotics & Automation Magazine. 2008. Vol. 15. № 2. P. 48-57.
  12. Rawlinson D., Jarvis R. Ways to Tell Robots Where to Go. Directing autonomous robots using topological instructions // IEEE Robotics & Automation Magazine. 2008. Vol. 15. № 2. P. 27-36.
  13. Yegenoglu F., Erkmen A. M., Stephanou H. E. On-line Path Planning Under Uncertainty // Proc. of 27th IEEE Conf. Decis. and Contr. Austin, Tex. Dec. 7-9. 1988. Vol. 2. P. 1075-1079.
  14. Barraquand J., Latombe J.-C. Robot Motion Planning: A Distributed Representation Approach // Int. J. of Rob. Res. 1991. Vol. 10. № 6. P. 628-649.

Arquivos suplementares

Arquivos suplementares
Ação
1. JATS XML

Declaração de direitos autorais © Lopatin P.K., Lopatin P.K., 2011

Creative Commons License
Este artigo é disponível sob a Licença Creative Commons Atribuição 4.0 Internacional.

Este site utiliza cookies

Ao continuar usando nosso site, você concorda com o procedimento de cookies que mantêm o site funcionando normalmente.

Informação sobre cookies