{"title":"基于障碍物引导路径细化的机械臂路径规划","authors":"Mohamed G. B. Atia, Omar Salah, A. Fouly","doi":"10.23919/SICE.2019.8859846","DOIUrl":null,"url":null,"abstract":"The Path planning is essential in the field of robotics as robots require a fast algorithm to develop not only the shortest path but also free of collision with any obstacles. Therefore, this paper describes a novel path planning algorithm based on Obstacle-Guided Path Refinement (OGPR). To illustrate the benefits and performance of the new algorithm, a comparison is established between OGPR and A* based on implementation of the two algorithms with SCARA robot model. The results of this comparison show that OGPR algorithm over advantage A* in terms of the path length and the computational time.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Path Planning for Robot Manipulator based on Obstacle-Guided Path Refinement\",\"authors\":\"Mohamed G. B. Atia, Omar Salah, A. Fouly\",\"doi\":\"10.23919/SICE.2019.8859846\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The Path planning is essential in the field of robotics as robots require a fast algorithm to develop not only the shortest path but also free of collision with any obstacles. Therefore, this paper describes a novel path planning algorithm based on Obstacle-Guided Path Refinement (OGPR). To illustrate the benefits and performance of the new algorithm, a comparison is established between OGPR and A* based on implementation of the two algorithms with SCARA robot model. The results of this comparison show that OGPR algorithm over advantage A* in terms of the path length and the computational time.\",\"PeriodicalId\":147772,\"journal\":{\"name\":\"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)\",\"volume\":\"70 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.23919/SICE.2019.8859846\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/SICE.2019.8859846","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Path Planning for Robot Manipulator based on Obstacle-Guided Path Refinement
The Path planning is essential in the field of robotics as robots require a fast algorithm to develop not only the shortest path but also free of collision with any obstacles. Therefore, this paper describes a novel path planning algorithm based on Obstacle-Guided Path Refinement (OGPR). To illustrate the benefits and performance of the new algorithm, a comparison is established between OGPR and A* based on implementation of the two algorithms with SCARA robot model. The results of this comparison show that OGPR algorithm over advantage A* in terms of the path length and the computational time.