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• W2088332537 abstract "Robotic path planning with obstacle avoidance is considered. The main objective of the proposed approach is to reduce planning time considerably for real-time applications with obstacles of arbitrary configuration. The concept of a minimum required joint motion envelope is introduced to facilitate the representation of the joint kinematic solutions. Near minimum time trajectories are generated through a phase plane analysis. If the planned path is obstructed, then the obstacle geometry is approximated and a suitable projection is found in joint space. A modified path is finally determined to avoid the obstacles. Fuzzy logic is employed to incorporate uncertainty into the algorithmic procedure. Preliminary investigations have been carried out using a PUMA 560 and its associated workspace." @default.
• W2088332537 created "2016-06-24" @default.
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• W2088332537 date "1986-12-01" @default.
• W2088332537 modified "2023-09-23" @default.
• W2088332537 title "A fuzzy logic approach to robotic path planning with obstacle avoidance" @default.
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• W2088332537 doi "https://doi.org/10.1109/cdc.1986.267582" @default.
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