Please use this identifier to cite or link to this item: https://hdl.handle.net/11499/47743
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dc.contributor.authorMinnetoglu O.-
dc.contributor.authorConkur E.S.-
dc.date.accessioned2023-01-09T21:29:51Z-
dc.date.available2023-01-09T21:29:51Z-
dc.date.issued2022-
dc.identifier.issn2076-3417-
dc.identifier.urihttps://doi.org/10.3390/app12178882-
dc.identifier.urihttps://hdl.handle.net/11499/47743-
dc.description.abstractAn effective path-planning algorithm in three-dimensional (3D) environments based on a geometric approach for redundant/hyper-redundant manipulators are presented in this paper. The method works within confined spaces cluttered with obstacles in real-time. Using potential fields in 3D, a middle path is generated for point robots. Beams are generated tangent to the path points, which constructs a basis for preparing a collision-free path for the manipulator. Then, employing a simply control strategy without interaction between the links, the motion planning is achieved by advancing the end-effector of the manipulator through narrow terrains while keeping each link’s joints on this path until the end-effector reaches the goal. The method is simple, robust and significantly increases maneuvering ability of the manipulator in 3D environments compared to existing methods as illustrated with examples. © 2022 by the authors.en_US
dc.language.isoenen_US
dc.publisherMDPIen_US
dc.relation.ispartofApplied Sciences (Switzerland)en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectconfined spacesen_US
dc.subjecthyper-redundant manipulatoren_US
dc.subjectmobile roboten_US
dc.subjectmotion planningen_US
dc.subjectobstacle avoidanceen_US
dc.subjectpath-planningen_US
dc.subjectredundant roboten_US
dc.subjectsnake roboten_US
dc.subjecttight maneuveringen_US
dc.titleTight Maneuvering for Path Planning of Hyper-Redundant Manipulators in Three-Dimensional Environmentsen_US
dc.typeArticleen_US
dc.identifier.volume12en_US
dc.identifier.issue17en_US
dc.identifier.doi10.3390/app12178882-
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.authorscopusid57888734300-
dc.authorscopusid6602422168-
dc.identifier.scopus2-s2.0-85137880195en_US
dc.identifier.wosWOS:000850977500001en_US
dc.identifier.scopusqualityQ2-
item.languageiso639-1en-
item.fulltextWith Fulltext-
item.openairetypeArticle-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
item.grantfulltextopen-
crisitem.author.dept10.07. Mechanical Engineering-
crisitem.author.dept10.07. Mechanical Engineering-
Appears in Collections:Mühendislik Fakültesi Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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