Path Planning for Robot Manipulator based on Obstacle-Guided Path Refinement
- Resource Type
- Conference
- Authors
- Atia, Mohamed G. B.; Salah, Omar; Fouly, Ahmed
- Source
- 2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Instrument and Control Engineers of Japan (SICE), 2019 58th Annual Conference of the Society of. :437-442 Sep, 2019
- Subject
- Aerospace
Bioengineering
Components, Circuits, Devices and Systems
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Heuristic algorithms
Mathematical model
End effectors
Trajectory
Path planning
Robot manipulator
Trajectory generation
- Language
The Path planning is essential in the field of robotics as robots require a fast algorithm to develop not only the shortest path but also free of collision with any obstacles. Therefore, this paper describes a novel path planning algorithm based on Obstacle-Guided Path Refinement (OGPR). To illustrate the benefits and performance of the new algorithm, a comparison is established between OGPR and A* based on implementation of the two algorithms with SCARA robot model. The results of this comparison show that OGPR algorithm over advantage A* in terms of the path length and the computational time.