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Computer simulation of sensor-based robot collision avoidance in an unknown environment*

Published online by Cambridge University Press:  09 March 2009

K. Sun  and
V. Lumelsky
K. Sun
Affiliation:
Yale University, Department of Electrical Engineering, New Haven, Connecticut 06520, (USA)
V. Lumelsky
Affiliation:
Yale University, Department of Electrical Engineering, New Haven, Connecticut 06520, (USA)
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Summary

Computer simulation is a major tool in validation of robot motion planning systems, since, on the one hand, underlying theory of algorithms typically requires questionable assumptions and simplifications, and, on the other hand, experiments with hardware are necessarily limited by available resources and time. This is especially true when the motion planning system in question is based on sensor feedback and the generated trajectory is, therefore, unpredictable. This paper describes a simulation system ROPAS (for RObot PAth Simulation) for testing one approach — called Dynmic Path Planning (DPP) — to sensor-based robot collision avoidance in an environment with unknown obstacles. Using real time graphics animation of the motion planning system, the user can simulate the behavior of an autonomous vehicle or a robot arm manipulator with a fixed base. The overall structure of the system is described, and examples are presented.

Keywords

AvoidanceCollisionRobotsSimulationSensor
Type
Article
Information
Robotica , Volume 5 , Issue 4 , October 1987 , pp. 291 - 302
Copyright
Copyright © Cambridge University Press 1987

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