NDLI: Efficient C-space modelling using Kohonen maps

Content Provider	IEEE Xplore Digital Library
Author	Ralli, E. Hirzinger, G.
Copyright Year	1997
Description	Author affiliation: Inst. of Robotics & Syst. Dynamics, German Aerosp. Res. Establ., Wessling, Germany (Ralli, E.)
Abstract	Global path planning for robot manipulators is a main topic in robot motion planning. Path planners using an explicit configuration-space (C-space) representation demonstrate resolution completeness. Keeping the C-space resolution reasonable with growing number of degrees of freedom (DOF) of a robot is a challenging problem, since the C-space grows exponentially with the number of DOF. The approach presented leads to a high resolution representation of collision-free C-space regions and a low one of colliding C-space regions. This C-space representation by a non-equidistant C-space grid is achieved by using Kohonen's self organizing feature maps. The effectiveness of the approach is demonstrated by examples of up to 5-dimensional C-spaces used by a path planner.
Starting Page	433
Ending Page	438
File Size	670452
Page Count	6
File Format	PDF
ISBN	0780341600
DOI	10.1109/ICAR.1997.620218
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-07-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Self organizing feature maps Path planning Orbital robotics Robotics and automation Manipulator dynamics Robot motion Motion planning Service robots Aerodynamics Neural networks
Content Type	Text
Resource Type	Article

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