原创力文档Real-Time Obstacle Avoidance for Manipulators and Mobile Robots, Int. Jour of Robotic Research：（机械手和移动机器人实时避障,Int,机器人研究的）.pdfVIP
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Oussama Khatib Real-Time Obstacle
Artificial Intelligence Laboratory
Stanford University Avoidance for
Stanford, California 94305
Manipulators and
Mobile Robots
Abstract free path planning algorithms (Lozano-Perez 1980;
Moravec 1980; Chatila 1981; Brooks 1983). These al-
This paper presents a unique real-time obstacle avoidance gorithms aim at providing the low level control with a
approach for manipulators and mobile robots based on the path that will enable the robot to accomplish its as-
artificial potential field concept. Collision avoidance, tradi- signed task free from any risk of collision.
tionally considered a high levelplanning problem, can be From this perspective, the function of low level
effectively distributed between different levels ofcontrol, al- control is limited to the execution of elementary oper-
lowing real-time robot operations in a complex environment. ations for which the paths have been precisely speci-
This method has been extended to moving obstacles by using fied. The robot’s interaction with its environment is
a time-varying artificial patential field. We have applied this then paced by the time cycle of high level control,
obstacle avoidance scheme to robot arm mechanisms and
have used a new approach to the generalproblem of real-time which is generally several orders of magnitude slower
than the time of a robot. This
manipulator control. We reformulated the manipulator con- r
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