Manipulator path planning in unknown environments using model based planners: Conversion criteria and IPA sensor implementation

@article{Um2009ManipulatorPP,
  title={Manipulator path planning in unknown environments using model based planners: Conversion criteria and IPA sensor implementation},
  author={Dugan Um and Handi Chandra Putra},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2009},
  pages={273-278}
}
Path planning in unknown environments such as Mars or underwater are not only challenging but also daunting tasks. While significant advances are made for mobile platforms, manipulator motion planning in unknown environments still falls short of full fledged solutions due to the uncertainty and complexity of higher order configuration spaces. Most feasible solutions proposed so far are either modeling unknown environments in realtime or applying randomized model based planners with sensitive… CONTINUE READING

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