Path planning for everday robotics with SANDROS
Conference
·
OSTI ID:454014
- Sandia National Labs., Albuquerque, NM (United States)
- Korea Inst. of Science and Technology, Seoul (Korea, Republic of)
We discuss the integration of the SANDROS path planner into a general robot simulation and control package with the inclusion of a fast geometry engine for distance calculations. This creates a single system that allows the path to be computed, simulated, and then executed on the physical robot. The architecture and usage procedures are presented. Also, we present examples of its usage in typical environments found in our organization. The resulting system is as easy to use as the general simulation system (which is in common use here) and is fast enough (example problems are solved in seconds) to be used interactively on an everyday basis.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE Office of Financial Management and Controller, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 454014
- Report Number(s):
- SAND--97-0261C; CONF-970469--8; ON: DE97003037
- Country of Publication:
- United States
- Language:
- English
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