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- W1978277407 abstract "A new method for on-line path planning and path generation for a robot, in a non-empty, changing, working space is presented. The methodology is divided into three parts. The first part is centered on creating a pseudo-target, called ghost, and making the gripper pursue it. The movement of the ghost must be planned in accordance with the state of the real target, the state of the gripper, and the environment. The second part discusses the movement of the gripper (and the whole arm) through the Advanced Proportional Navigation (APN) algorithm, which is based on the well-known (Standard) Proportional Navigation (SPN). The main difference between them is the inclusion of the acceleration of both pursuer (gripper) and evader (target). The third part determines the profile of velocity for the movement of the gripper. The new APN algorithm (second part) is the chief subject of this paper. A computationally simple algorithm is presented. Simulations using a planar RR-type robot showed that the error in position during coarse motion was less than 0.3% and less than 190 mathematical operations were required." @default.
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- W1978277407 date "1991-01-01" @default.
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- W1978277407 title "A new approach to on-line path planning and generation for robots in non-static environments" @default.
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- W1978277407 doi "https://doi.org/10.1016/0921-8890(91)90004-5" @default.
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