A SMOOTHING STRATEGY FOR PRM PATHS - Application to 6-axes MOTOMAN manipulator

Reda Guernane, Mahmoud Belhocine

Abstract

This paper describes the use of the probabilistic motion planning technique SBL “Single-Query Bidirectional Probabilistic Algorithm with Lazy Collision Checking” or in motion planning for robot manipulators. We present a novel strategy to remedy the PRM “Probabilistic Roadmap” paths which are both excessively long and velocity discontinuous. The optimization of the path will be done first through Coarse optimal lazy A* optimization and then through a Fine cutting-triangles-edge one, the edges discontinuities are smoothed with cubic polynomials taking the robot’s specific Dynamic and Cinematic constraints. The whole strategy is applied to the 6 axes robot Manipulator MOTOMAN SV3X.

References

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Paper Citation


in Harvard Style

Guernane R. and Belhocine M. (2005). A SMOOTHING STRATEGY FOR PRM PATHS - Application to 6-axes MOTOMAN manipulator . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 205-210. DOI: 10.5220/0001167202050210


in Bibtex Style

@conference{icinco05,
author={Reda Guernane and Mahmoud Belhocine},
title={A SMOOTHING STRATEGY FOR PRM PATHS - Application to 6-axes MOTOMAN manipulator},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={205-210},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001167202050210},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - A SMOOTHING STRATEGY FOR PRM PATHS - Application to 6-axes MOTOMAN manipulator
SN - 972-8865-30-9
AU - Guernane R.
AU - Belhocine M.
PY - 2005
SP - 205
EP - 210
DO - 10.5220/0001167202050210