A path conditioning method with trap avoidance

This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based approaches. The sliding-mode algorithm activates when the desired path is abo...

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Detalles Bibliográficos
Autores principales: Gracia, Luis, Sala, Antonio, Garelli, Fabricio
Formato: Articulo
Lenguaje:Inglés
Publicado: 2012
Materias:
Ingeniería
Path planning
Sliding mode
Collision avoidance
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/128462
Aporte de:
SEDICI (UNLP) de Universidad Nacional de La Plata
id I19-R120-10915-128462
record_format dspace
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Inglés
topic Ingeniería
Path planning
Sliding mode
Collision avoidance
spellingShingle Ingeniería
Path planning
Sliding mode
Collision avoidance
Gracia, Luis
Sala, Antonio
Garelli, Fabricio
A path conditioning method with trap avoidance
topic_facet Ingeniería
Path planning
Sliding mode
Collision avoidance
description This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based approaches. The sliding-mode algorithm activates when the desired path is about to violate the robot workspace constraints, modifying it as much as necessary in order to fulfill all the constraints and reaching their limit surface at low speed. The proposed path conditioning algorithm can be used on-line, since it does not require a priori knowledge of the desired path, and improves the conventional conservative potential field-based approach in the sense that it fully exploits the robot workspace. The proposed approach can be easily added as an auxiliary supervisory loop to conventional robotic planning algorithms and its implementation is very easy in a few program lines of a microprocessor. The proposed path conditioning is compared through simulation with the conventional potential field-based approach in order to show the benefits of the method. Moreover, the effectiveness of the proposed trap avoidance algorithm is evaluated by simulation for various trap situations.
format Articulo
Articulo
author Gracia, Luis
Sala, Antonio
Garelli, Fabricio
author_facet Gracia, Luis
Sala, Antonio
Garelli, Fabricio
author_sort Gracia, Luis
title A path conditioning method with trap avoidance
title_short A path conditioning method with trap avoidance
title_full A path conditioning method with trap avoidance
title_fullStr A path conditioning method with trap avoidance
title_full_unstemmed A path conditioning method with trap avoidance
title_sort path conditioning method with trap avoidance
publishDate 2012
url http://sedici.unlp.edu.ar/handle/10915/128462
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