A fast converging optimal technique applied to path planning of hyper-redundant manipulators. (December 2017)

• Record Type: Journal Article
• Authors: Ananthanarayanan, Hariharan; Ordóñez, Raúl
• Is Part Of: Mechanism and machine theory. Volume 118(2017:Dec.)
• Page Start: 231
• Page End: 246
• Publication Date: 2017-12
• Subjects: Path planning -- Hyper-redundant manipulator -- Optimal control -- Obstacle avoidance; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2017.08.005
• Languages: English
• ISSNs: 0094-114X

Abstract

Highlights: A modified dynamic programming approach is proposed that addresses curse of dimensionality and local minima. Planned path is Optimal/sub optimal while avoiding obstacles. Real-time application to hyper-redundant manipulators. Abstract: A multi-pass sequential localized search technique to solve the problem of path planning of hyper-redundant manipulators for the shortest path in real-time in the presence of obstacles is proposed. The problem is approached from a control perspective as a shortest path optimal control problem, where the configuration space is searched for path points that optimize a cost function. This method addresses the "curse of dimensionality" of exhaustive search techniques via a multi-pass sequential localized search, and sensitivity to local minima of greedy approaches via a backtracking technique. Further, theoretical proof shows that the proposed technique converges to a global optimal (if only one exists) or a suboptimal (if many exist) solution. The algorithm is implemented on a 6-DOF PUMA 560 and a 9-DOF hyper-redundant manipulator arm and simulation results are analyzed for cost and time of execution.