Augmented Feasibility Maps: A Simultaneous Approach to Redundancy Resolution and Path Planning

Marc Fabregat-Jaén, Adrián Peidró, Esther González-Amorós, María Flores, Óscar Reinoso, Óscar Reinoso

2024

Abstract

Redundant robotic manipulators are capable of performing complex tasks with an unprecedented level of dexterity and precision. However, their redundancy also introduces significant computational challenges, particularly in the realms of redundancy resolution and path planning. This paper introduces a novel approach to simultaneously address these challenges through the concept of Augmented Feasibility Maps, by integrating task coordinates as decision variables into the traditional feasibility maps. We validate the AFM concept by using Rapidly-Exploring Random Trees to explore the maps, demonstrating its efficacy in simulations of various dimensionalities. The method is capable of incorporating kinematic constraints, such as obstacle avoidance while adhering to joint limits.

Paper Citation

in Harvard Style

Fabregat-Jaén M., Peidró A., González-Amorós E., Flores M. and Reinoso Ó. (2024). Augmented Feasibility Maps: A Simultaneous Approach to Redundancy Resolution and Path Planning. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 166-173. DOI: 10.5220/0012946000003822

in Bibtex Style

@conference{icinco24,
author={Marc Fabregat-Jaén and Adrián Peidró and Esther González-Amorós and María Flores and Óscar Reinoso},
title={Augmented Feasibility Maps: A Simultaneous Approach to Redundancy Resolution and Path Planning},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2024},
pages={166-173},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012946000003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Augmented Feasibility Maps: A Simultaneous Approach to Redundancy Resolution and Path Planning
SN - 978-989-758-717-7
AU - Fabregat-Jaén M.
AU - Peidró A.
AU - González-Amorós E.
AU - Flores M.
AU - Reinoso Ó.
PY - 2024
SP - 166
EP - 173
DO - 10.5220/0012946000003822
PB - SciTePress