engleski

COLLISION SPACE MODELING FOR RM501 ROBOT

Problem of the collision space modeling for RM501 robot has been researched. Collision space model is prerequisite for the robot trajectory calculation in the presence of obstacles. Instead of model building in the configuration space, modeling in the external coordinates has been used. This approach provides acceptable model length and time for its calculation. Calculated trajectory is similar to the human like solution faced with the same problem.

path planning; obstacle avoiding; collision-space modeling

nije evidentirano