Presenter(s)

    Hariharan Ananthanarayanan

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    Description

    A multi-pass distributed localized search technique to solve the problem of path planning of hyper-redundant manipulators for the shortest path in real-time in the presence of obstacles is proposed. The problem is approached from a control perspective as a shortest path Optimal control problem, where the configuration space is searched for path points that optimize a cost function. This method addresses the ‘’Curse of Dimensionality” of exhaustive search techniques via the multi-pass distributed local search and local minima of Greedy approach via a backtracking technique. Further, theoretical proof shows that the proposed technique converges to an optimal (if only one exists) or a suboptimal (if many exist) solution. The algorithm is implemented on a 9-DOF manipulator arm for various paths.

    Publication Date

    4-9-2015

    Project Designation

    Graduate Research

    Primary Advisor

    Raul E. Ordonez

    Primary Advisor's Department

    Electrical and Computer Engineering

    Keywords

    Stander Symposium project

    Disciplines

    Arts and Humanities | Business | Education | Engineering | Life Sciences | Medicine and Health Sciences | Physical Sciences and Mathematics | Social and Behavioral Sciences

    Adaptation of Fast Converging Optimal Techniques to Path Planning of Hyper-Redundant Manipulators

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