상세정보
학술지
비정형 디팔레타이징 작업을 위한 Multi-RRT 기반의 다관절 로봇 경로 계획
- 발행일
- 202004
- 출처
- 제어로봇시스템학회논문지, v.26 no.4, pp.263-268
- ISSN
- 1976-5622
- 출판사
- 제어로봇시스템학회
- 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.