BROWSE
Detail
Journal Article
비정형 디팔레타이징 작업을 위한 Multi-RRT 기반의 다관절 로봇 경로 계획
Cited 2 time in 
Share 
Share
- Issue Date
- 2020-04
- Citation
- 제어로봇시스템학회논문지, v.26, no.4, pp.263-268
- ISSN
- 1976-5622
- Publisher
- 제어로봇시스템학회
- Language
- Korean
- Type
- Journal Article
- Abstract
- 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.
- KSP Keywords
- Multi-start, Path planning algorithm, Path planning problem, Rapidly-exploring random tree, Robot Path Planning, Three dimensional(3D), Three-Dimensional Path planning