Adolphs, Peter ; Matthiesen, Jan (2023)
Task-Level Programming with Collision Avoidance for Autonomous Space Robots.
In: IFAC Proceedings Volumes, 1992, 25 (22)
doi: 10.26083/tuprints-00023385
Article, Secondary publication, Publisher's Version
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| Item Type: | Article |
|---|---|
| Type of entry: | Secondary publication |
| Title: | Task-Level Programming with Collision Avoidance for Autonomous Space Robots |
| Language: | English |
| Date: | 2023 |
| Place of Publication: | Darmstadt |
| Year of primary publication: | 1992 |
| Publisher: | IFAC - International Federation of Automatic Control |
| Journal or Publication Title: | IFAC Proceedings Volumes |
| Volume of the journal: | 25 |
| Issue Number: | 22 |
| DOI: | 10.26083/tuprints-00023385 |
| Corresponding Links: | |
| Origin: | Secondary publication service |
| Abstract: | The reasons for integrating collision avoiding path planning into a task-level programmable multi-sensor robot system are put forward. The underlying system architecture and the specific approaches for environment modelling, task planning and path planning are discussed. Task planning is performed using a rule based expert sytem and a frame representation of relevant environment data. Path planning is based on a configuration-space approach with a fast new algorithm for obstacle transformation. Results gained from experimental laboratory work are presented and show some advantages and problems of the entire system. |
| Uncontrolled Keywords: | robots, task-level programming, collision avoidance |
| Status: | Publisher's Version |
| URN: | urn:nbn:de:tuda-tuprints-233853 |
| Additional Information: | Zugl. Konferenzveröffentlichung: 12th IFAC Symposium on Automatic Control in Aerospace, 07.-11.09.1992, Ottobrun, Germany |
| Classification DDC: | 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering |
| Divisions: | 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Intelligent Systems |
| Date Deposited: | 25 Apr 2023 12:35 |
| Last Modified: | 12 Jul 2023 12:33 |
| URI: | https://tuprints.ulb.tu-darmstadt.de/id/eprint/23385 |
| PPN: | 509533248 |
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