Real-time adaptive and trajectory-optimized manipulator motion planning

J. Vannoy, Jing Xiao
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)  
While there has been a large body of literature addressing offline path planning for manipulators, there is relatively less study on real-time motion planning that occurs as a manipulator moves in an environment with unknown obstacles or unknown changes. This paper introduces a unified and general motion planning approach based on evolutionary computation that is suitable for both offline and real-time adaptive motion planning for manipulators under various optimization criteria and manipulator
more » ... constraints in environments with obstacles or changes not known a priori. The implementation and testing results demonstrate the effectiveness and efficiency of the approach.
doi:10.1109/iros.2004.1389401 dblp:conf/iros/VannoyX04 fatcat:ubzozgehu5atfgagipz2yr7e4u