Search results for: K.H. Heng
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Robotics and Computer Integrated Manufacturing > 2009 > 25 > 1 > 13-31
In this paper, the on-line motion planning of articulated robots in dynamic environment is investigated. We propose a practical on-line robot motion planning approach that is based upon pre-computing the global configuration space (C-space) connectivity with respect to all possible obstacle positions. The proposed motion planner consists of an off-line stage and an on-line stage. In the off-line stage,...
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Research in the area of free space optical communications is largely based on fixed point-to-point link or long range link for space applications, employing a single beam divergence for the applications. For short-range inter-Unmanned Aerial Vehicle (UAV) optical communications, a single beam divergence employed in the link may limit the transmission distance between UAVs. To address this problem,...
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Laser intersatellite crosslink is a promising choice for intersatellite communications due to the high data rate that can be achieved with the advantages of light weight, smaller size and lower power consumption. The establishment of the line of sight (LOS) between the satellites can be a complex task due to the narrow laser beam to be used over long distances between satellite platforms. We examine...
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A novel approach for configuration space obstacle(C-obstacle) construction and collision detection of manipulators by precompiling the global topology of a robot's free space is proposed in this paper. The approach consists of an off-line phase plus an on-line phase. In the off-line phase, a C-obstacle database (COD) for a given robot is setup in which the C-obstacle bitmaps are stored and indexed...
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IEEE Conference on Cybernetics and Intelligent Systems, 2004. > 2 > 1380 - 1385
Due to its potential ability in reasoning linguistic terms, the fuzzy logic approach has been widely applied to robot motion planning. The existing fuzzy logic planners for robot motion planning mainly deal with planar manipulation or navigation. Further, the existing planners operate only on fuzzy scalar variables. However, for a general robot motion in 3-D Cartesian space, both the pose of a manipulator...
