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A Novel Collision-Free Path Planning Modeling and Simulation Methodology for Robotical Arms Using Resistive Grids

Published online by Cambridge University Press:  22 August 2019

Carlos Hernández-Mejía Open the ORCID record for Carlos Hernández-Mejía [Opens in a new window] ,
Héctor Vázquez-Leal  and
Delia Torres-Muñoz
Carlos Hernández-Mejía*
Affiliation:
Escuela de Ingenierías, Universidad de Xalapa, Xalapa, Mexico
Héctor Vázquez-Leal
Affiliation:
Maestría en Ingeniería Electrónica y Computación, Universidad Veracruzana, Xalapa, Mexico E-mails: hvazquez@uv.mx, deletsm@gmail.com
Delia Torres-Muñoz
Affiliation:
Maestría en Ingeniería Electrónica y Computación, Universidad Veracruzana, Xalapa, Mexico E-mails: hvazquez@uv.mx, deletsm@gmail.com
*
*Corresponding author. E-mail: cmahernandez@gmail.com
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Summary

Path planning represents planning collision-free strategies to move from starting point to ending point. These strategies can be carried out for known and unknown environments. Recently, a novel and reduced CPU-time modeling and simulation methodology for path planning in known environment based on resistive grids (RGs) has been introduced. In this work, a novel modified version of Resistive Grid Path Planning Methodology (RGPPM) methodology is presented with the purpose of exploring collision-free path planning for robotic arms. This extension of the methodology allows to numerically relate positions in the RG with angular values of the robotic systems. In addition, it is possible to include obstacles in the configuration space, and therefore collision detection can be established for RGs. Finally, the variation of links for robotic arms and obstacles for configuration space is explored by simulating different scenarios.

Keywords

Resistive gridsPath planning methodsRobotical armsGrid-based methods
Type
Articles
Information
Robotica , Volume 38 , Issue 7 , July 2020 , pp. 1176 - 1190
Copyright
© Cambridge University Press 2019

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