This paper proposes a method for motion planning and simulation for manipulator robots in the presence of obstacles in the workspace realizing large movements without dividing the stroke into successive parts. The approach has been tested with different solvers. In particular, it is observed that the RRT Connect planner has very good abilities to solve the problem although some difficulties remain when a large part of the workspace between the initial and final position is occupied by an obstacle.
Robot Motion Planning in ROS Environment
Borboni A.
;Amici C.;Archetti I.;Faglia R.
2023-01-01
Abstract
This paper proposes a method for motion planning and simulation for manipulator robots in the presence of obstacles in the workspace realizing large movements without dividing the stroke into successive parts. The approach has been tested with different solvers. In particular, it is observed that the RRT Connect planner has very good abilities to solve the problem although some difficulties remain when a large part of the workspace between the initial and final position is occupied by an obstacle.File in questo prodotto:
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