Real-Time Path Planning for Multi-DoF Manipulators in Dynamic Environment

Abstract

An efficient path planning algorithm, for multi degrees of freedom manipulator robots in dynamic environments, is presented in this paper. The proposed method is based on a local planner and a boundary following method for rapid solution finding. The local planner is replaced by the boundary following method whenever the robot gets stuck in a local minimum. This method was limited to 2-DoF mobile robots and in this work we showed how it can be applicable for a robot with n degrees of freedom in a dynamic environment. The path planning task is performed in the configuration space and we used a hyperplane in the n dimensional space to find the way out of the deadlock situation when it occurs. This method is, therefore, able to find a path, when it exists, no matter how cluttered is the environment, and it avoids deadlocking inherent to the use of the local method. Moreover, this method is fast, which makes it suitable for on-line path planning in dynamic environment. The algorithm has been implemented into a robotic CAD system for testing. Some examples are presented to demonstrate the ability of this algorithm to find a path no matter how complex is the environment. These examples involve a 5-DoF robot in a cluttered environment, then two 5-DoF robots, and finally three 5-DoF robots. In all cases, the proposed method was able to find a path to reach the goal and to avoid the dynamic obstacles.

Core encoding sequences of Hepatitis C virus in Ghanaian blood donors are predominantly mosaics of different genotype 2 strains and cannot distinguish subtypes

“…Cellular immune responses appear to play a role in protecting against HCV infection; and possible targets for HCV-specific cytotoxic T lymphocytes (CTL) recognition epitopes have been identified within the conserved core and the highly variable E2 regions [43]. It is known that host immunogenetic factor, such as the human leukocyte antigen (HLA) system, which presents viral peptides for CTL-mediated immune response, play an important role in influencing pathogen diversity [44–47]. In fact, some HLAs have been described that associate with either clearance or persistence of HCV infection [48].…”

A path planning method of anti-jamming ability improvement for autonomous vehicle navigating in off-road environments

“…Although the geometric methods have some advantages, it is not suitable in off-road environments which are complex and full of noises. In these situations, the path planning method has to be more intelligent and adaptive (Fernandez and Gonzalez, 1998; Lahouar et al , 2006).…”

An Experimental Validation of Collision-Free Trajectories for Parallel Manipulators

“…For instance, surgical robot applications will benefit from the development of manipulators capable of avoiding collision with different elements involved in surgery (Lueth and Bier, 1999). Considerable research activity has been carried out in order to obtain optimal paths with serial robots, and the corresponding literature is very rich (Barraquand and Latombe, 1991;Berenson et al, 2009;Bohlin and Kavraki, 2000;Ceccarelli et al, 1996;Da Graça et al, 2010;Fang and Dissanayake, 1998;Gu and Ceccarelli, 2012;Khatib, 1986;Lahouar et al, 2006;Lin et al, 1983;Ong and Gilbert, 1998;Saramago and Valder, 2001;Saramago and Ceccarelli, 2004;Savavanan et al, 2008;Shin and Mckay, 1986;Simeon et al, 2000).…”