TU Darmstadt / ULB / TUprints

Task-Level Programming with Collision Avoidance for Autonomous Space Robots

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

[img] Text
Copyright Information: CC BY-NC-ND 4.0 International - Creative Commons, Attribution NonCommercial, NoDerivs.

Download (2MB)
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

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
Actions (login required)
View Item View Item