SHORTEST PATH PLANNING FOR SINGLE MANIPULATOR IN 2D ENVIRONMENT OF DEFORMABLE OBJECTS
DOI:
https://doi.org/10.11113/jt.v75.4974Keywords:
Path planning, single manipulator, deformable object, robotic surgery, CUDAAbstract
A heuristic algorithm to perform path planning for single manipulator in 2D environment containing deformable objects is presented. The environment is partitioned into a quadtree hierarchy for both sampling and space navigation use before combination of artificial potential field and heuristic reasoning are applied iteratively to generate feasible path for the manipulator. The algorithm specifically targets for the shortest path without damaging any objects due to deep collision depth between manipulator link and object. Resulting path is in turn to be used in generating micro-instruction controlling the manipulator. Implementation results show feasibility to solve problems involving simple object and manipulator configuration.
References
Carpin, S. 2006. Algorithmic Motion Planning: The Randomized Approach. General Theory of Information Transfer and Combinatorics. In Ahlswede, R., Bäumer, L., Cai, N., Aydinian, H., Blinovsky, V., Deppe, C., Mashurian, H. (eds.). Springer Berlin.
Sánchez, A., R. Cuautle, R. Zapata, M. Osorio. 2006. A Reactive Lazy PRM Approach for Nonholonomic Motion Planning. Advances in Artificial Intelligence - IBERAMIA-SBIA 2006. In Sichman, J., Coelho, H., Rezende, S. (eds.). Springer Berlin.
Jaillet, L., and T. Siméon. 2008. Path Deformation Roadmaps. Algorithmic Foundation of Robotics VII. In Akella, S., Amato, N., Huang, W., Mishra, B. (eds.). Springer Berlin.
Mohamed E.F., K. El-Metwally and A.R. Hanafy. An Improved Tangent Bug Method Integrated with Artificial Potential Field for Multi-Robot Path Planning. 2011 International Symposium on Innovations in Intelligent Systems and Applications (INISTA). Istanbul. 15-18 June 2011. 555-559.
Igarashi, T. and M. Stilman. Homotopic Path Planning on Manifolds for Cabled Mobile Robots. Algorithmic Foundations of Robotics IX. In Hsu, D., Isler, V., Latombe, J.C., Lin, M. (eds.). Springer Berlin.
Mahoney, A., J. Bross and D. Johnson. Deformable Robot Motion Planning in A Reduced-Dimension Configuration Space. 2010 IEEE International Conference on Robotics and Automation (ICRA). Anchorage, Alaska, USA. 3-8 May 2010. 5133-5138.
Vaillant, M., C. Davatzikos, R. Taylor and R. Bryan. 1997. A Path-Planning Algorithm for Image-Guided Neurosurgery. CVRMed-MRCAS'97. In Troccaz, J., Grimson, E., Mösges, R. (eds.) Springer Berlin.
Rilk, M., F.M. Wahl, K.W.G. Eichhorn, I. Wagner and F. Bootz. Path Planning for Robot-Guided Endoscopes in Deformable Environments. Advances in Robotics Research. In Kröger, T., Wahl, F.M. (eds.). Springer Berlin.
Vancamberg, L., A. Sahbani, S. Muller and G. Morel. 2010. Needle Path Planning Method for Digital Breast Tomosynthesis Biopsy based on Probabilistic Techniques. Digital Mammography. In MartÃ, J., Oliver, A., Freixenet, J., MartÃ, R. (eds.). Springer Berlin.
Alterovitz, R., K.Y. Goldberg, J. Pouliot and I.C. Hsu. 2009. Sensorless Motion Planning for Medical Needle Insertion in Deformable Tissues. IEEE Transactions on Information Technology in Biomedicine. 13(2): 217-225.
DiMaio, S.P., and S.E. Salcudean. 2005. Needle Steering and Motion Planning in Soft Tissues. IEEE Transactions on Biomedical Engineering. 52(6): 965-974.
Omar, F.S., M.N. Islam, and H. Haron. 2012. Heuristic Modeling of Deformable Object using Node-based Structure with Mass-Spring System. 2012 International Conference on Interactive Digital Media (ICIDM). 1(2): 436-440.
Rahim, M.S.M, S.A.M. Isa, A. Rehman and T. Saba. 2013. Evaluation of Adaptive Subdivision Method on Mobile Device. 3D Research.  4(2): 1-10.
Havran, V., J. Bittner and J. Zára. 1998. Ray Tracing with Rope Trees. Proceedings of 13th Spring Conference on Computer Graphics Budmerice in Slovakia. 130-139.
Downloads
Published
Issue
Section
License
Copyright of articles that appear in Jurnal Teknologi belongs exclusively to Penerbit Universiti Teknologi Malaysia (Penerbit UTM Press). This copyright covers the rights to reproduce the article, including reprints, electronic reproductions, or any other reproductions of similar nature.
