Planning of collision-free paths for holonic Blastman robots

Mika Rintala, Tapio Heikkilä

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review


    Collision freeness is an essential feature in off-line programming of robots. It relates to safe and efficient operation, and becomes even more critical, when two or more robots are sharing the same work space, which is typical for so called holonic robot systems. Here we are reporting a simple and fast path planning algorithm based on configuration space method, suitable for holonic robot applications. The basic version of the algorithm can be found from the literature, and we have extended and modified it to improve its feasibility. Simulation and experimental tests have been carried out successfully.
    Original languageEnglish
    Title of host publicationIntelligent Robots and Computer Vision XVII
    Subtitle of host publicationAlgorithms, Techniques, and Active Vision
    PublisherInternational Society for Optics and Photonics SPIE
    Publication statusPublished - 1998
    MoE publication typeA4 Article in a conference publication
    EventIntelligent Robots and Computer Vision XVIII: Algorithms, Techniques and Active Vision - Boston, United States
    Duration: 20 Sept 199921 Sept 1999

    Publication series

    SeriesProceedings of SPIE


    ConferenceIntelligent Robots and Computer Vision XVIII
    Abbreviated titlePhotonics East '99
    Country/TerritoryUnited States


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