A computational feasibility study of failure-tolerant path planning

Rodrigo S. Jamisola, Anthony A. Maciejewski, Rodney G. Roberts

Research output: Contribution to journalConference article

Abstract

This work considers the computational costs associated with the implementation of a failure-tolerant path planning algorithm proposed in [1]. The algorithm makes the following assumptions: a manipulator is redundant relative to its task, only a single joint failure occurs at any given time, the manipulator is capable of detecting a joint failure and immediately locks the failed joint, and the environment is static and known. The algorithm is evaluated on a three degree-of-freedom planar manipulator for a total of eleven thousand different scenarios, randomly varying the robot's start and goal positions and the number and locations of obstacles in the environment. Statistical data are presented related to the computation time required by the different steps of the algorithm as a function of the complexity of the environment.

Original languageEnglish
Pages (from-to)233-239
Number of pages7
JournalConference on Robotics and Remote Systems- Proceedings
Volume10
Publication statusPublished - Jul 19 2004
Event10th International Conference on Robotics and Remote Systems for Hazardous Environments - Gainesville, FL, United States
Duration: Mar 28 2004Mar 31 2004

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Motion planning
Manipulators
Redundant manipulators
Robots
Costs

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

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A computational feasibility study of failure-tolerant path planning. / Jamisola, Rodrigo S.; Maciejewski, Anthony A.; Roberts, Rodney G.

In: Conference on Robotics and Remote Systems- Proceedings, Vol. 10, 19.07.2004, p. 233-239.

Research output: Contribution to journalConference article

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