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A real-time motion planning algorithm for a hyper-redundant set of mechanisms

Published online by Cambridge University Press:  11 June 2013

Nir Shvalb ,
Boaz Ben Moshe  and
Oded Medina
Nir Shvalb*
Affiliation:
Mechanical Engineering, Ariel University, Ariel, Israel
Boaz Ben Moshe
Affiliation:
Computer Science, Ariel University, Ariel, Israel
Oded Medina
Affiliation:
Industrial Engineering, Ariel University, Ariel, Israel
*
*Corresponding author. E-mail: odedmedina@gmail.com
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Summary

We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space ${\EuScript C}$. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace ${\EuScript O}$. We define a varying potential field f on ∂${\EuScript O}$ as a Morse function and follow $\vec{\nabla} f$. We then exemplify our algorithm on a redundant worm climbing robot with n degrees of freedom and compare our algorithm running results with those of the PRM.

Keywords

Motion planningPath planningRedundant manipulatorsOpen chainSerial manipulator design and kinematicsLegged robotsClimbing robots

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Type
Articles
Information
Robotica , Volume 31 , Issue 8 , December 2013 , pp. 1327 - 1335
Copyright
Copyright © Cambridge University Press 2013 

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