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A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms.

Gerardo C Velez-Lopez1, Hector Vazquez-Leal2,3, Luis Hernandez-Martinez1

  • 1Electronics Department, National Institute for Astrophysics, Optics and Electronics, Luis Enrique Erro 1, Santa MarĂ­a Tonantzintla, Cholula 72840, Puebla, Mexico.

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Summary
This summary is machine-generated.

This study introduces a novel homotopy-based path-planning algorithm for robotic arms, ensuring efficient and collision-free motion. The algorithm effectively navigates complex environments, demonstrating versatility and speed for autonomous systems.

Keywords:
autonomous robotcollision-free path planninghomotopy continuation methodsrobot arm

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Area of Science:

  • Robotics and Automation
  • Computational Geometry
  • Artificial Intelligence

Background:

  • Autonomous and semi-autonomous robots require efficient algorithms for collision-free path planning.
  • Existing methods may struggle with complex workspaces and multi-link robotic arms.

Purpose of the Study:

  • To present a novel collision-free path-planning algorithm for planar robotic arms.
  • To utilize Homotopy Continuation Methods (HCMs) for solving the workspace's Non-linear Algebraic Equations System (NAES).

Main Methods:

  • Development of a homotopy-based path-planning algorithm.
  • Application of Homotopy Continuation Methods (HCMs) to solve the Non-linear Algebraic Equations System (NAES).
  • Validation through simulations with three robotic arm configurations and an industrial robot.

Main Results:

  • The algorithm successfully planned collision-free paths for robotic arms in narrow corridors and maze-like environments.
  • Demonstrated computational efficiency with CPU times in milliseconds for simpler cases and under 3 seconds for complex scenarios.
  • Low memory consumption, under 4.5 kB for initial cases and around 18 kB for the most complex simulation.

Conclusions:

  • The proposed homotopy-based path-planning algorithm is versatile and efficient for various robotic arm configurations.
  • The method shows significant potential for real-time applications in autonomous robotics.
  • Validated performance on an industrial robot arm (CRS CataLyst-5) confirms practical applicability.