详情

原文传递 Motion planning of a robotic arm on a wheeled vehicle on a rugged terrain

题名：	Motion planning of a robotic arm on a wheeled vehicle on a rugged terrain
作者：	Hwang, Yong K.;
关键词：	42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES ; ROBOTS; NAVIGATION; PLANNING; REMOTE CONTROL; ARTIFICIAL INTELLIGENCE; MANIPULATORS; AUTOMATION
摘要：	This paper presents a set of motion planners for an exploration vehicle on a simulated rugged terrain. The vehicle has four wheels for its movement and a robotic arm mounted on the vehicle for object manipulation. Given a target point to reach with the hand of the arm, our planners first compute a path for the vehicle to the vicinity of the target, then compute an optimal vehicle position from which the arm can reach the target point, and then plans a path for the arm to reach the target. The vehicle path is planned in two stages. A rough path is planned considering only global features of the terrain, and the path is modified by a local planner to avoid more detailed features of the terrain. The planners are expected to increase the autonomy of robots and improve the efficiencies of exploration missions.
总页数：	7p
报告类型：	科技报告