A sampling-based optimized algorithm for task-constrained motion planning
We consider a motion planning problem with task space constraints in a complex environment for redundant manipulators. For this problem, we propose a motion planning algorithm that combines kinematics control with rapidly exploring random sampling methods. Meanwhile, we introduce an optimization str...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-05-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881419847378 |