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Proceedings Paper

A new strategy for robot path planning based on the finite element method
Author(s): Zhang Cao; Qinghao Meng; Huaxiang Wang; Lijun Xu
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Paper Abstract

This paper discusses a new model that integrates the environment information for the robot path planning. This model could be regarded as a generalization of the artificial potential (AP) method. The path with the least turning angles, i.e. the smoothest, is defined as the optimal path. The finite element method is used to construct global optimum path planning strategy for a robot in a known environment for both static and dynamic cases. Simulation results show that this method is feasible for the path planning of a point robot in a complicated environment.

Paper Details

Date Published: 13 October 2008
PDF: 6 pages
Proc. SPIE 7127, Seventh International Symposium on Instrumentation and Control Technology: Sensors and Instruments, Computer Simulation, and Artificial Intelligence, 71272R (13 October 2008); doi: 10.1117/12.806839
Show Author Affiliations
Zhang Cao, Beijing Univ. of Aeronautics and Astronautics (China)
Qinghao Meng, Tianjin Univ. (China)
Huaxiang Wang, Tianjin Univ. (China)
Lijun Xu, Beijing Univ. of Aeronautics and Astronautics (China)


Published in SPIE Proceedings Vol. 7127:
Seventh International Symposium on Instrumentation and Control Technology: Sensors and Instruments, Computer Simulation, and Artificial Intelligence

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