An Algorithm for Moving a Computer-Controlled Manipulator While Avoiding Obstacles
Proceedings of the Eighth International Joint Conference on Artificial Intelligence. Robotics. Pages 807-812.
Abstract
In programming a computer to control a manipulator, the problem of avoiding obstaclespresent in the environment must be faced . This paper presents a simple world model containing the manipulator as well as obstacles, and describes an algorithm for guiding the manipulator to a speci-fied destination point while avoiding collisions with obstacles . The algorithm combines a number of heuristics with a method for stepwise optimization based on a linear programming technique. A brief description of the computer program AVOID and a sample of computer simulated tasks solved by it are presented.
@inproceedings{ijcai1983p195,
title = {An Algorithm for Moving a Computer-Controlled Manipulator While Avoiding Obstacles},
author = {Grechanovsky, Eugene and Pinsker, Ilia},
booktitle = {Proceedings of the Eighth International Joint Conference on
Artificial Intelligence, {IJCAI-83}},
publisher = {International Joint Conferences on Artificial Intelligence},
editor = {Alan Bundy},
pages = {807--812},
year = {1983},
note = {Robotics},
url = {https://ijcai.org/proceedings/1983/195},
}
TY - CPAPER TI - An Algorithm for Moving a Computer-Controlled Manipulator While Avoiding Obstacles AU - Grechanovsky, Eugene AU - Pinsker, Ilia T2 - Proceedings of the Eighth International Joint Conference on Artificial Intelligence, IJCAI-83 PB - International Joint Conferences on Artificial Intelligence PY - 1983 SP - 807 EP - 812 UR - https://ijcai.org/proceedings/1983/195 ER -Copied
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