A SMOOTHING STRATEGY FOR PRM PATHS - Application to 6-axes MOTOMAN manipulator

Reda Guernane; Mahmoud Belhocine

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Paper

A SMOOTHING STRATEGY FOR PRM PATHS - Application to 6-axes MOTOMAN manipulator

Topics: Robot Design, Development and Control

In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, 205-210, 2005 , Barcelona, Spain

Authors: Reda Guernane and Mahmoud Belhocine

Affiliation: Divison Robotique et Productique , Centre de Développement des Technologies Avancées, Algeria

Keyword(s): Probabilistic Roadmap, A*, smoothing, motion planning, 6-axis manipulator, collision checks.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

Abstract: This paper describes the use of the probabilistic motion planning technique SBL “Single-Query Bidirectional Probabilistic Algorithm with Lazy Collision Checking” or in motion planning for robot manipulators. We present a novel strategy to remedy the PRM “Probabilistic Roadmap” paths which are both excessively long and velocity discontinuous. The optimization of the path will be done first through Coarse optimal lazy A* optimization and then through a Fine cutting-triangles-edge one, the edges discontinuities are smoothed with cubic polynomials taking the robot’s specific Dynamic and Cinematic constraints. The whole strategy is applied to the 6 axes robot Manipulator MOTOMAN SV3X.

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Paper citation in several formats:

Guernane, R. and Belhocine, M. (2005). A SMOOTHING STRATEGY FOR PRM PATHS - Application to 6-axes MOTOMAN manipulator. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 205-210. DOI: 10.5220/0001167202050210

@conference{icinco05,
author={Reda Guernane. and Mahmoud Belhocine.},
title={A SMOOTHING STRATEGY FOR PRM PATHS - Application to 6-axes MOTOMAN manipulator},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2005},
pages={205-210},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001167202050210},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - A SMOOTHING STRATEGY FOR PRM PATHS - Application to 6-axes MOTOMAN manipulator
SN - 972-8865-30-9
IS - 2184-2809
AU - Guernane, R.
AU - Belhocine, M.
PY - 2005
SP - 205
EP - 210
DO - 10.5220/0001167202050210
PB - SciTePress