A new strategy for robot path planning based on the finite element method

Zhang Cao; Qinghao Meng; Huaxiang Wang; Lijun Xu

doi:10.1117/12.806839

13 October 2008 A new strategy for robot path planning based on the finite element method

Zhang Cao, Qinghao Meng, Huaxiang Wang, Lijun Xu

Proceedings Volume 7127, Seventh International Symposium on Instrumentation and Control Technology: Sensors and Instruments, Computer Simulation, and Artificial Intelligence; 71272R (2008) https://doi.org/10.1117/12.806839
Event: Seventh International Symposium on Instrumentation and Control Technology, 2008, Beijing, China

Abstract

This paper discusses a new model that integrates the environment information for the robot path planning. This model could be regarded as a generalization of the artificial potential (AP) method. The path with the least turning angles, i.e. the smoothest, is defined as the optimal path. The finite element method is used to construct global optimum path planning strategy for a robot in a known environment for both static and dynamic cases. Simulation results show that this method is feasible for the path planning of a point robot in a complicated environment.

Citation Download Citation

Zhang Cao, Qinghao Meng, Huaxiang Wang, and Lijun Xu "A new strategy for robot path planning based on the finite element method", Proc. SPIE 7127, Seventh International Symposium on Instrumentation and Control Technology: Sensors and Instruments, Computer Simulation, and Artificial Intelligence, 71272R (13 October 2008); https://doi.org/10.1117/12.806839

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