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Proceedings Paper

Collision Avoidance Navigation For Mobile Articulated Robotic Systems
Author(s): Alexander Yu-Kuang Chen
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Paper Abstract

This paper presents an initial attempt to build a complete framework which will support the collision-free spatial planning for advanced robotic systems. The Inverse Spatial Planning Problem (ISPP) is defined to determine the joint variables and the base mobility such that the designated targets can be dextrously reached at terminal time without encountering any collision. A new approach for solving the ISPP is introduced which includes world modeling, the associated inverse kinematic problem (IKP) solver, collision detection and avoidance algorithms and sensor data fusion consideration. The SRAARS (Scientific Research Associates Advanced Robotic Systems) is employed to demonstrate the current status of the new ISPP solver.

Paper Details

Date Published: 10 March 1989
PDF: 8 pages
Proc. SPIE 1007, Mobile Robots III, (10 March 1989); doi: 10.1117/12.949095
Show Author Affiliations
Alexander Yu-Kuang Chen, Scientific Research Associates, Inc. (United States)


Published in SPIE Proceedings Vol. 1007:
Mobile Robots III
William J. Wolfe, Editor(s)

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