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EnglishA methodology to plan the trajectories of robots that move in an n-dimensional Euclidean space, have to reach a target avoiding obstacles and are constrained to move in a region of the space is described. It is shown that if the positions of the obstacles are known then a Hamiltonian function can be constructed and used to define a collision-free trajectory. It is also shown that the method can be extended to the case in which the target or the obstacles (or both) move. Results of simulations for a pair of planar robots and a three degrees-of-freedom manipulator are finally reported.
| Titolo: | Hamiltonian path planning in constrained workspace |
| Autori: | |
| Data di pubblicazione: | 2017 |
| Rivista: | |
| Abstract: | A methodology to plan the trajectories of robots that move in an n-dimensional Euclidean space, have to reach a target avoiding obstacles and are constrained to move in a region of the space is described. It is shown that if the positions of the obstacles are known then a Hamiltonian function can be constructed and used to define a collision-free trajectory. It is also shown that the method can be extended to the case in which the target or the obstacles (or both) move. Results of simulations for a pair of planar robots and a three degrees-of-freedom manipulator are finally reported. |
| Handle: | http://hdl.handle.net/11390/1105253 |
| Appare nelle tipologie: | 1.1 Articolo in rivista |
File in questo prodotto:
| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| Cas_Fen_Pel_EJC_2017.pdf | Articolo principale | Documento in Post-print | Non pubblico | Accesso ristretto Richiedi una copia |
http://hdl.handle.net/11390/1105253
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