Call for Paper - September 2022 Edition
IJCA solicits original research papers for the September 2022 Edition. Last date of manuscript submission is August 22, 2022. Read More

A New Dimension towards the Determination of Shortest Path for Robots using Convex Polygons

Print
PDF
International Journal of Computer Applications
© 2011 by IJCA Journal
Number 1 - Article 5
Year of Publication: 2011
Authors:
Dr. T.C. Manjunath
Ushaa Eswaran
10.5120/2997-4027

Dr. T C Manjunath and Ushaa Eswaran. Article: A New Dimension towards the Determination of Shortest Path for Robots using Convex Polygons. International Journal of Computer Applications 25(1):14-20, July 2011. Full text available. BibTeX

@article{key:article,
	author = {Dr. T.C. Manjunath and Ushaa Eswaran},
	title = {Article: A New Dimension towards the Determination of Shortest Path for Robots using Convex Polygons},
	journal = {International Journal of Computer Applications},
	year = {2011},
	volume = {25},
	number = {1},
	pages = {14-20},
	month = {July},
	note = {Full text available}
}

Abstract

In this paper, a optimal path planning algorithm using motion heuristics coupled with search problem is designed for a robot in a workspace full of obstacles which are polyhedral and consisting of different types of objects. Both in the simulation as well as in the real time is considered herewith. A new method of finding an obstacle collision free path from the source to the goal when the workspace is cluttered with obstacles is also developed using motion heuristics using an user friendly GUI developed in C++. The method presented is similar to the method of finding / searching a path by the humans when he / she is moving in a vehicle from the source to the destination. The method was also implemented on a real time system, say a robot and was successful. Artificial Intelligence which uses motion heuristics (search methods) is used to find the obstacle collision free path. Also, the shortest path from the source to the destination is also determined by making use of various types of sensing techniques. Here, we have presented the chain coding method of obtaining the shortest path form source to goal. Also, the mathematical development & the graphical design of the path is also incorporated in the research work undertaken in this paper & three equations are formulated. The parameters are taken into consideration while designing the path in between the obstacles are the vertices & edges of the different types of obstacles that occur in the path of motion when the robot is traversing from the source to the goal. Three types of interactions are considered while designing the path, viz., interaction between vertex of one obstacle & the other, interaction between edge of one obstacle & the other, interaction between an edge of one obstacle & the vertex of another obstacle. The main advantages of the designed path are it generates paths for the mobile part that stays well away from the obstacles ; since, the path is equidistant or midway between the obstacles and avoids collision with the obstacles, this method of planning the path using gross motion technique is, it is quite effective especially when the workspace of the robot is sparsely populated with obstacles, the path obtained is the shortest path, the path is a obstacle collision free path, the path is equidistant from the obstacles and there is no chance of collisions. To conclude, we design a novel method of searching a obstacle collision free path ( motion ) from the source to the goal in the free work space of the robot by using search technique in Artificial Intelligence using simulation in C++ & in Matlab. The work done in this paper is the simulation of the algorithm developed in [1].

Reference

  • Robert, J.S., Fundamentals of Robotics : Analysis and Control, PHI, New Delhi., 1992.
  • Klafter, Thomas and Negin, Robotic Engineering, PHI, New Delhi, 1990.
  • Fu, Gonzalez and Lee, Robotics : Control, Sensing, Vision and Intelligence, McGraw Hill, Singapore, 1995.
  • Ranky, P. G., C. Y. Ho, Robot Modeling, Control & Applications, IFS Publishers, Springer, UK., 1998.
  • T.C.Manjunath, Fundamentals of Robotics, Nandu Publishers, 5th Revised Edition, Mumbai., 2005.
  • T.C.Manjunath, Fast Track To Robotics, Nandu Publishers, 3nd Edition, Mumbai, 2005.
  • Ranky, P. G., C. Y. Ho, Robot Modeling, Control & Applications, IFS Publishers, Springer, UK, 2005.
  • Groover, Weiss, Nagel and Odrey, Industrial Robotics, McGraw Hill, Singapore, 2000.
  • William Burns and Janet Evans, Practical Robotics - Systems, Interfacing, Applications, Reston Publishing Co., 2000.
  • Phillip Coiffette, Robotics Series, Volume I to VIII, Kogan Page, London, UK, 1995.
  • Luh, C.S.G., M.W. Walker, and R.P.C. Paul, On-line computational scheme for mechanical manipulators, Journal of Dynamic Systems, Measurement & Control, Vol. 102, pp. 69-76, 1998.
  • Mohsen Shahinpoor, A Robotic Engineering Text Book, Harper and Row Publishers, UK.
  • Janakiraman, Robotics and Image Processing, Tata McGraw Hill.
  • Richard A Paul, Robotic Manipulators, MIT press, Cambridge.
  • Fairhunt, Computer Vision for Robotic Systems, New Delhi.
  • Yoram Koren, Robotics for Engineers, McGraw Hill.
  • Bernard Hodges, Industrial Robotics, Jaico Publishing House, Mumbai, India.
  • Tsuneo Yoshikawa, Foundations of Robotics : Analysis and Control, PHI.
  • Dr. Jain and Dr. Aggarwal, Robotics : Principles & Practice, Khanna Publishers, Delhi.
  • Lorenzo and Siciliano, Modeling and Control of Robotic Manipulators, McGraw Hill.
  • Dr. Amitabha Bhattacharya, Mechanotronics of Robotics Systems, Calcutta, 1975.
  • S.R. Deb, Industrial Robotics, Tata McGraw Hill, New Delhi, India.
  • Edward Kafrissen and Mark Stephans, Industrial Robots and Robotics, Prentice Hall Inc., Virginia.
  • Rex Miller, Fundamentals of Industrial Robots and Robotics, PWS Kent Pub Co., Boston.
  • Doughlas R Malcom Jr., Robotics … An introduction, Breton Publishing Co., Boston.
  • Wesseley E Synder, Industrial Robots : Computer Interfacing and Control, Prentice Hall.
  • Carl D Crane and Joseph Duffy, Kinematic Analysis of Robot Manipulators, Cambridge Press, UK.
  • C Y Ho and Jen Sriwattamathamma, Robotic Kinematics … Symbolic Automatic and Numeric Synthesis, Alex Publishing Corp, New Jersey.
  • Francis N Nagy, Engineering Foundations of Robotics, Andreas Siegler, Prentice Hall.
  • William Burns and Janet Evans, Practical Robotics - Systems, Interfacing, Applications, Reston Publishing Co.
  • Robert H Hoekstra, Robotics and Automated Systems.
  • Lee C S G, Robotics , Kinematics and Dynamics.
  • Gonzalez and Woods, Digital Image Processing, Addison Wesseley.
  • Anil K Jain, Digital Image Processing, PHI.
  • Joseph Engelberger, Robotics for Practice and for Engineers, PHI, USA.
  • Yoshikawa T., Analysis and Control of Robot Manipulators with Redundancy, Proc. First Int. Symp. on Robotics Research, Cambridge, MIT Press (1984), pp. 735-748.
  • Whitney DE., The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators, Trans. ASM J. Dynamic Systems, Measurements and Control, Vol. 122 (1972), pp. 303-309.
  • Whitney DE., Resolved Motion Rate Control of Manipulators and Human Prostheses, IEEE Trans. Syst. Man, Cybernetics, Vol. MMS-10, No. 2 (1969), pp. 47-53.
  • Lovass Nagy V, R.J. Schilling, Control of Kinematically Redundant Robots Using {1}-inverses, IEEE Trans. Syst. Man, Cybernetics, Vol. SMC-17, No. 4 (1987), pp. 644-649.
  • Lovass Nagy V., R J Miller and D L Powers, An Introduction to the Application of the Simplest Matrix-Generalized Inverse in Systems Science, IEEE Trans. Circuits and Systems, Vol. CAS-25, No. 9 (1978), pp. 776.