A path conditioning method with trap avoidance

Autores
Gracia, Luis; Sala, Antonio; Garelli, Fabricio
Año de publicación
2012
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based approaches. The sliding-mode algorithm activates when the desired path is about to violate the robot workspace constraints, modifying it as much as necessary in order to fulfill all the constraints and reaching their limit surface at low speed. The proposed path conditioning algorithm can be used on-line, since it does not require a priori knowledge of the desired path, and improves the conventional conservative potential field-based approach in the sense that it fully exploits the robot workspace. The proposed approach can be easily added as an auxiliary supervisory loop to conventional robotic planning algorithms and its implementation is very easy in a few program lines of a microprocessor. The proposed path conditioning is compared through simulation with the conventional potential field-based approach in order to show the benefits of the method. Moreover, the effectiveness of the proposed trap avoidance algorithm is evaluated by simulation for various trap situations.
Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
Fil: Sala, Antonio. Universidad Politécnica de Valencia; España
Fil: Garelli, Fabricio. Universidad Nacional de La Plata; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata; Argentina
Materia
Collision Avoidance
Path Planning
Sliding Mode
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/76243
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/76243
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling A path conditioning method with trap avoidanceGracia, LuisSala, AntonioGarelli, FabricioCollision AvoidancePath PlanningSliding Modehttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based approaches. The sliding-mode algorithm activates when the desired path is about to violate the robot workspace constraints, modifying it as much as necessary in order to fulfill all the constraints and reaching their limit surface at low speed. The proposed path conditioning algorithm can be used on-line, since it does not require a priori knowledge of the desired path, and improves the conventional conservative potential field-based approach in the sense that it fully exploits the robot workspace. The proposed approach can be easily added as an auxiliary supervisory loop to conventional robotic planning algorithms and its implementation is very easy in a few program lines of a microprocessor. The proposed path conditioning is compared through simulation with the conventional potential field-based approach in order to show the benefits of the method. Moreover, the effectiveness of the proposed trap avoidance algorithm is evaluated by simulation for various trap situations.Fil: Gracia, Luis. Universidad Politécnica de Valencia; EspañaFil: Sala, Antonio. Universidad Politécnica de Valencia; EspañaFil: Garelli, Fabricio. Universidad Nacional de La Plata; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata; ArgentinaElsevier Science2012-06info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/76243Gracia, Luis; Sala, Antonio; Garelli, Fabricio; A path conditioning method with trap avoidance; Elsevier Science; Robotics And Autonomous Systems; 60; 6; 6-2012; 862-8730921-8890CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1016/j.robot.2012.01.009info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S0921889012000218info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-17T10:50:37Zoai:ri.conicet.gov.ar:11336/76243instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-17 10:50:37.569CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv A path conditioning method with trap avoidance
title A path conditioning method with trap avoidance
spellingShingle A path conditioning method with trap avoidance
Gracia, Luis
Collision Avoidance
Path Planning
Sliding Mode
title_short A path conditioning method with trap avoidance
title_full A path conditioning method with trap avoidance
title_fullStr A path conditioning method with trap avoidance
title_full_unstemmed A path conditioning method with trap avoidance
title_sort A path conditioning method with trap avoidance
dc.creator.none.fl_str_mv Gracia, Luis
Sala, Antonio
Garelli, Fabricio
author Gracia, Luis
author_facet Gracia, Luis
Sala, Antonio
Garelli, Fabricio
author_role author
author2 Sala, Antonio
Garelli, Fabricio
author2_role author
author
dc.subject.none.fl_str_mv Collision Avoidance
Path Planning
Sliding Mode
topic Collision Avoidance
Path Planning
Sliding Mode
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based approaches. The sliding-mode algorithm activates when the desired path is about to violate the robot workspace constraints, modifying it as much as necessary in order to fulfill all the constraints and reaching their limit surface at low speed. The proposed path conditioning algorithm can be used on-line, since it does not require a priori knowledge of the desired path, and improves the conventional conservative potential field-based approach in the sense that it fully exploits the robot workspace. The proposed approach can be easily added as an auxiliary supervisory loop to conventional robotic planning algorithms and its implementation is very easy in a few program lines of a microprocessor. The proposed path conditioning is compared through simulation with the conventional potential field-based approach in order to show the benefits of the method. Moreover, the effectiveness of the proposed trap avoidance algorithm is evaluated by simulation for various trap situations.
Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
Fil: Sala, Antonio. Universidad Politécnica de Valencia; España
Fil: Garelli, Fabricio. Universidad Nacional de La Plata; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata; Argentina
description This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based approaches. The sliding-mode algorithm activates when the desired path is about to violate the robot workspace constraints, modifying it as much as necessary in order to fulfill all the constraints and reaching their limit surface at low speed. The proposed path conditioning algorithm can be used on-line, since it does not require a priori knowledge of the desired path, and improves the conventional conservative potential field-based approach in the sense that it fully exploits the robot workspace. The proposed approach can be easily added as an auxiliary supervisory loop to conventional robotic planning algorithms and its implementation is very easy in a few program lines of a microprocessor. The proposed path conditioning is compared through simulation with the conventional potential field-based approach in order to show the benefits of the method. Moreover, the effectiveness of the proposed trap avoidance algorithm is evaluated by simulation for various trap situations.
publishDate 2012
dc.date.none.fl_str_mv 2012-06
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/76243
Gracia, Luis; Sala, Antonio; Garelli, Fabricio; A path conditioning method with trap avoidance; Elsevier Science; Robotics And Autonomous Systems; 60; 6; 6-2012; 862-873
0921-8890
CONICET Digital
CONICET
url http://hdl.handle.net/11336/76243
identifier_str_mv Gracia, Luis; Sala, Antonio; Garelli, Fabricio; A path conditioning method with trap avoidance; Elsevier Science; Robotics And Autonomous Systems; 60; 6; 6-2012; 862-873
0921-8890
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1016/j.robot.2012.01.009
info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S0921889012000218
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier Science
publisher.none.fl_str_mv Elsevier Science
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1843606125468975104
score 13.001348

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