Please use this identifier to cite or link to this item: https://hdl.handle.net/11499/47743
Full metadata record
DC FieldValueLanguage
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.fulltextWith Fulltext-
item.grantfulltextopen-
item.languageiso639-1en-
item.openairetypeArticle-
item.cerifentitytypePublications-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
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
Files in This Item:
File SizeFormat 
Tight Maneuvering for Path Planning.pdf21.12 MBAdobe PDFView/Open
Show simple item record



CORE Recommender

SCOPUSTM   
Citations

4
checked on Nov 16, 2024

WEB OF SCIENCETM
Citations

3
checked on Nov 21, 2024

Page view(s)

46
checked on Aug 24, 2024

Download(s)

28
checked on Aug 24, 2024

Google ScholarTM

Check




Altmetric


Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.