R-PRM(Re-usable Probabilistic Roadmap) for Trajectory Planning of Palletizing Tasks

• SAKAMOTO Takumi

  Osaka University

• HARADA Kensuke

  Osaka University

• Wan Weiwei

  Osaka University

• Ramirez-Alpizar Ixchel G.

  Osaka University

Bibliographic Information

Other Title

• パレタイジングの軌道計画におけるR-PRM(Re-usable Probabilistic Roadmap)手法

Abstract

This paper proposes a method for trajectory planning for palletizing tasks. Focusing on the feature of palletizing task where the start and the goal configurations are similar in most of the cases, we consider re-using and slightly modifying the previously constructed roadmap when planning the robot’s trajectory. We propose two methods for re-using the previously constructed roadmap named R-PRM (Re-usable PRM) and show that, in both methods, the calculation time needed to plan the robot’s trajectory has been significantly reduced.

Journal

• The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 (0), 2A2-C01-, 2019

  The Japan Society of Mechanical Engineers

Keywords

• Palletizing
• Path Planning
• Trajectory Planning
• PRM

Details

• CRID: 1390283659834017536
• NII Article ID: 130007774736
• DOI: 10.1299/jsmermd.2019.2a2-c01
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2019/0/2019_2A2-C01/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed