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구분 SCI
연도 ~ 키워드

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학술지 비정형 디팔레타이징 작업을 위한 Multi-RRT 기반의 다관절 로봇 경로 계획
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저자
김동형, 송병열, 김중배
발행일
202004
출처
제어로봇시스템학회논문지, v.26 no.4, pp.263-268
ISSN
1976-5622
출판사
제어로봇시스템학회
DOI
https://dx.doi.org/10.5302/J.ICROS.2020.19.0160
협약과제
19HS1900, 노동환경 개선을 위한 로봇 작업지능 핵심기술 개발, 유원필
초록
This paper presents an algorithm for robot path planning for unstructured depalletizing tasks. Parcel depalletization is a multi-start single-goal path planning problem that involves placing multiple parcels in the same location. To solve this problem, we propose a new path planning algorithm called the multi-start single-goal RRT (Rapidly-exploring Random Tree), which is an extended version of the bidirectional RRT. The multi-start single-goal RRT is based on multi-RRT and uses multiple trees to find a path that connects multiple parcels to a single placing position. We verified the performance of the proposed algorithm by solving the three-dimensional path planning problem with a simulation before applying it to articulated robot arms.
키워드
Depalletizing task, Motion planning, Path planning, RRT
KSP 제안 키워드
Motion Planning, Multi-start, Path planning algorithm, Path planning problem, Rapidly-exploring random tree(RRT), Robot path planning, Three dimensional(3D), Three-Dimensional Path planning