BFA（Backtrack Free path planning Algorithm）の3次元作業空間向け実装と多腕マニピュレータへの応用

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2011/05/01

タイトル(英語): Implementation of BFA (Backtrack Free Path Planning Algorithm) for 3 Dimensional Work Spaces and its Application to Path Planning of Multi Manipulators

著者名: 村田　知也（福井大学大学院工学研究科），田村　信介（福井大学大学院工学研究科），川井　昌之（福井大学大学院工学研究科）

著者名(英語): Tomonari Murata (Graduate School of Engineering, University of Fukui), Shinsuke Tamura (Graduate School of Engineering, University of Fukui), Masayuki Kawai (Graduate School of Engineering, University of Fukui)

キーワード: マニピュレータ，バックトラックフリー，経路計画，完全アルゴリズム　　manipulator，backtrack free，path planning，exact algorithm

要約(英語): BFA (Backtrack Free path planning Algorithm) has been implemented for calculating paths of manipulators behaving in 3-dimensional work spaces. In the implementation, a method to avoid collisions between links also has been proposed. This paper also discusses an approach to extending BFA for path plannings of cooperating multi manipulators. In the approach, multiple manipulators are considered as a single composite one with many links. Simulation results demonstrated that BFA enabled the efficient generation of paths both for single and multi manipulators. The algorithm is backtrack free and resolution complete. Computation volume of the algorithm is proportional to the total number of links and does not change with environments where manipulators behave.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.131 No.5 （2011） 特集：メタヒューリスティクスとその応用

本誌掲載ページ: 1059-1067 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/131/5/131_5_1059/_article/-char/ja/