An Algorithm for Moving a Computer-Controlled Manipulator While Avoiding Obstacles
Abstract
In programming a computer to control a manipulator, the problem of avoiding obstacles present 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 specified 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.
Cite
Text
Grechanovsky and Pinsker. "An Algorithm for Moving a Computer-Controlled Manipulator While Avoiding Obstacles." International Joint Conference on Artificial Intelligence, 1983.Markdown
[Grechanovsky and Pinsker. "An Algorithm for Moving a Computer-Controlled Manipulator While Avoiding Obstacles." International Joint Conference on Artificial Intelligence, 1983.](https://mlanthology.org/ijcai/1983/grechanovsky1983ijcai-algorithm/)BibTeX
@inproceedings{grechanovsky1983ijcai-algorithm,
title = {{An Algorithm for Moving a Computer-Controlled Manipulator While Avoiding Obstacles}},
author = {Grechanovsky, Eugene and Pinsker, Ilia},
booktitle = {International Joint Conference on Artificial Intelligence},
year = {1983},
pages = {807-813},
url = {https://mlanthology.org/ijcai/1983/grechanovsky1983ijcai-algorithm/}
}