MODIFIED INTELLIGENT BIDIRECTIONAL RANDOM TREE ALGORITHM FOR PLANNING THE MOVEMENT OF ANTHROPOMORPHIC MANIPULATORS
Annotation
An algorithm for planning the movement of a multi-link robotic system in an environment with obstacles is considered. The main requirements for this task are high performance and efficient memory usage during operation. An algorithm for path planning based on the method of a bidirectional fast-investigating random tree is presented. An approach is used which excludes addition of new vertices to the tree if their location in space can unambiguously conclude that it is inappropriate to use them in the path construction. This modification makes it possible to speed up movement planning and reduce the amount of memory needed to store the environment analysis data.
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Articles in current issue
- STRUCTURAL-PARAMETRIC SYNTHESIS OF PLANAR UNDERACTUATED LINKAGES FOR ANTHROPOMORPHIC ROBOTIC HANDS
- HARDWARE AND SOFTWARE ARCHITECTURE FOR ANTHROPOMORPHIC ROBOT HAND CONTROL SYSTEM
- DESIGN OF AN UNDERACTUATED JUMPING ROBOT WITH FLEXIBLE JOINTS
- MODIFIED INTELLIGENT BIDIRECTIONAL RANDOM TREE ALGORITHM FOR PLANNING THE MOVEMENT OF ANTHROPOMORPHIC MANIPULATORS
- OBJECTS SEGMENTATION WITH RETRAINING FUNCTION
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