NDLI: Algorithmic path planning for robots based on the forbidden rotation range

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Algorithmic path planning for robots based on the forbidden rotation range

Content Provider	IEEE Xplore Digital Library
Author	Wu, C.J. Lee, T.T. Gruver, W.A.
Copyright Year	1989
Description	Author affiliation: Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA (Wu, C.J.; Lee, T.T.; Gruver, W.A.)
Abstract	The authors present an efficient method for determining the forbidden rotation range (FRR) of a polygon moving in the presence of stationary polygonal obstacles, where each of the polygons may be convex or concave. The FRR of the edges of the moving polygon versus edges of the obstacles is derived. It is shown that the FRR of the moving polygon versus the obstacles is the union of the FRR of each edge of the moving polygon and the obstacles. This result is utilized to develop two algorithms for computing the FRR that can be used for robot path planning.
Starting Page	322
Ending Page	328
File Size	321835
Page Count	7
File Format	PDF
ISBN	0818619333
ISSN	00942898
DOI	10.1109/SSST.1989.72485
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1989-03-26
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Robot kinematics Motion planning Manufacturing systems Space stations
Content Type	Text
Resource Type	Article

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