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Path Planning for Manipulator Robots in Cluttered Environments

[+] Author Affiliations
Samir Lahouar, Said Zeghloul

Laboratoire de Mécanique des Solides, Futuroscope, France

Lotfi Romdhane

Laboratoire de Génie Mécanique, Monastir, Tunisia

Paper No. DETC2005-84993, pp. 633-639; 7 pages
doi:10.1115/DETC2005-84993
From:
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME

abstract

In this paper we propose a new path planning method for robot manipulators in cluttered environments, based on lazy grid sampling. Grid cells are built while searching for the path to the goal configuration. The proposed planner acts in two modes. A depth mode, while the robot is far from obstacles, makes it evolve toward its goal. While a width search mode becomes active when the robot gets close to an obstacle. This method provides the shortest path to go around the obstacle. It also reduces the gap between pre-computed grid methods and lazy grid methods. No heuristic function is needed to guide the search process. An example dealing with a robot in a cluttered environment is presented to show the efficiency of the method.

Copyright © 2005 by ASME

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