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Comparison of motion planners in an environment with removable obstacles

Author
Rodriguez, C.; Suarez, R.
Type of activity
Presentation of work at congresses
Name of edition
20th IEEE International Conference on Emerging Technologies and Factory Automation
Date of publication
2015
Presentation's date
2015-09-10
Book of congress proceedings
2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA 2015): Luxembourg, 8-11 September 2015
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/ETFA.2015.7301516 Open in new window
Repository
http://hdl.handle.net/2117/82398 Open in new window
Abstract
This work deals with the problem of motion planning for a robotic system with two arms, considering the possibility of using one arm to remove potential obstacles in order to get a collision-free path to reach a desired object with the other arm. The paper compares different motion planning algorithms based on random sampling methods. In the used framework the planners do not discard the samples that imply collision with removable objects, instead these samples are classified according to the ob...
Citation
Rodriguez, C., Suarez, R. Comparison of motion planners in an environment with removable obstacles. A: IEEE International Conference on Emerging Technologies and Factory Automation. "2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA 2015): Luxembourg, 8-11 September 2015". Luxembourg: Institute of Electrical and Electronics Engineers (IEEE), 2015.
Group of research
SIR - Service and Industrial Robotics

Participants

  • Rodriguez Pacheco, Carlos  (author and speaker )
  • Suarez Feijoo, Raul  (author and speaker )