The International Journal of Fuzzy Logic and Intelligent Systems

eISSN 2093-744X
pISSN 1598-2645

APBP for a mobile manipulator path planning

Given qinit, qgoal, and t0
• Initialize: qqinit and γ(t0) ← qinit
WHILEq is not qgoal
 • Calculate from Fatt,i(pi(q)) and Frep,i,j(pi(q)) Eq. (12)
 • Plan a next configuration: Eq. (13)
 • Increase a time stamp: s′ss Eq. (14)
 • Assign q′ to a path: γ(s′) ← q′ Eq. (14)
 • Update: ss′, qq′, pi(q) ← pi(q′) Eq. (15)
END
• Finalize: tfs and γ(tf ) ← qgoal
RETURNγ
International Journal of Fuzzy Logic and Intelligent Systems 2018;18:263~275 https://doi.org/10.5391/IJFIS.2018.18.4.263
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