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Real-Time Collision-Free Path Planning for Robots in Configuration Space

Li Wei; Zhang Bo; Hilmar Jaschek;   

  1. Department of Computer Science; Tsinghua University; Beijing l00084; Lehrstuhl for Systemtheorie der Elektrotechnik; University of Saarland; Germany;
  • Online:1994-01-10 Published:1994-01-10

Collision-free path planning for an industrtal robot in configuration space requires mapping obstacles from robot's workspace into its configuration space. In this paper ,an approach to real-time collision-free path planning for robots in configuration space is presented. Obstacle mapping is carried out by fundamental obstacles defined in the workspace and their images in the configuration space. In order to avoid dealing with unimportant parts of the configuration space that do not thect searching a collis…

Key words: spoken language understanding; spoken dialogue system; spontaneous speech;

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