Elastic bands: connecting path planning and control
Top Cited Papers
- 30 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 802-807 vol.2
- https://doi.org/10.1109/robot.1993.291936
Abstract
Elastic bands are proposed as the basis for a framework to close the gap between global path planning and real-time sensor-based robot control. An elastic band is a deformable collision-free path. The initial shape of the elastic is the free path generated by a planner. Subjected to artificial forces, the elastic band deforms in real time to a short and smooth path that maintains clearance from the obstacles. The elastic continues to deform as changes in the environment are detected by sensors, enabling the robot to accommodate uncertainties and react to unexpected and moving obstacles. While providing a tight connection between the robot and its environment, the elastic band preserves the global nature of the planned path. The framework is outlined, and an efficient implementation based on bubbles is discussed.Keywords
This publication has 4 references indexed in Scilit:
- Robot Motion PlanningPublished by Springer Nature ,1991
- Snakes: Active contour modelsInternational Journal of Computer Vision, 1988
- Real-Time Obstacle Avoidance for Manipulators and Mobile RobotsThe International Journal of Robotics Research, 1986
- Spatial Planning: A Configuration Space ApproachIEEE Transactions on Computers, 1983