PMID- 35684643
OWN - NLM
STAT- MEDLINE
DCOM- 20220613
LR  - 20220716
IS  - 1424-8220 (Electronic)
IS  - 1424-8220 (Linking)
VI  - 22
IP  - 11
DP  - 2022 May 26
TI  - A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms.
LID - 10.3390/s22114022 [doi]
LID - 4022
AB  - Achieving the smart motion of any autonomous or semi-autonomous robot requires an 
      efficient algorithm to determine a feasible collision-free path. In this paper, a 
      novel collision-free path homotopy-based path-planning algorithm applied to 
      planar robotic arms is presented. The algorithm utilizes homotopy continuation 
      methods (HCMs) to solve the non-linear algebraic equations system (NAES) that 
      models the robot's workspace. The method was validated with three case studies 
      with robotic arms in different configurations. For the first case, a robot arm 
      with three links must enter a narrow corridor with two obstacles. For the second 
      case, a six-link robot arm with a gripper is required to take an object inside a 
      narrow corridor with two obstacles. For the third case, a twenty-link arm must 
      take an object inside a maze-like environment. These case studies validated, by 
      simulation, the versatility and capacity of the proposed path-planning algorithm. 
      The results show that the CPU time is dozens of milliseconds with a memory 
      consumption less than 4.5 kB for the first two cases. For the third case, the CPU 
      time is around 2.7 s and the memory consumption around 18 kB. Finally, the 
      method's performance was further validated using the industrial robot arm CRS 
      CataLyst-5 by Thermo Electron.
FAU - Velez-Lopez, Gerardo C
AU  - Velez-Lopez GC
AD  - Electronics Department, National Institute for Astrophysics, Optics and 
      Electronics, Luis Enrique Erro 1, Santa Maria Tonantzintla, Cholula 72840, 
      Puebla, Mexico.
FAU - Vazquez-Leal, Hector
AU  - Vazquez-Leal H
AUID- ORCID: 0000-0002-7785-5272
AD  - Facultad de Instrumentacion Electronica, Universidad Veracruzana, Cto. Gonzalo 
      Aguirre Beltran S/N, Xalapa 91000, Veracruz, Mexico.
AD  - Consejo Veracruzano de Investigacion Cientifica y Desarrollo Tecnologico 
      (COVEICYDET), Av. Rafael Murillo Vidal No. 1735, Xalapa 91069, Veracruz, Mexico.
FAU - Hernandez-Martinez, Luis
AU  - Hernandez-Martinez L
AD  - Electronics Department, National Institute for Astrophysics, Optics and 
      Electronics, Luis Enrique Erro 1, Santa Maria Tonantzintla, Cholula 72840, 
      Puebla, Mexico.
FAU - Sarmiento-Reyes, Arturo
AU  - Sarmiento-Reyes A
AD  - Electronics Department, National Institute for Astrophysics, Optics and 
      Electronics, Luis Enrique Erro 1, Santa Maria Tonantzintla, Cholula 72840, 
      Puebla, Mexico.
FAU - Diaz-Arango, Gerardo
AU  - Diaz-Arango G
AUID- ORCID: 0000-0002-8144-6615
AD  - Instituto Tecnologico Superior de Poza Rica, Tecnologico Nacional de Mexico, Luis 
      Donaldo Colosio Murrieta S/N, Poza Rica 93230, Veracruz, Mexico.
FAU - Huerta-Chua, Jesus
AU  - Huerta-Chua J
AD  - Instituto Tecnologico Superior de Poza Rica, Tecnologico Nacional de Mexico, Luis 
      Donaldo Colosio Murrieta S/N, Poza Rica 93230, Veracruz, Mexico.
FAU - Rico-Aniles, Hector D
AU  - Rico-Aniles HD
AD  - Electrical Engineering Department, North Central College, 30 N. Brainard St., 
      Naperville, IL 60540, USA.
FAU - Jimenez-Fernandez, Victor M
AU  - Jimenez-Fernandez VM
AD  - Facultad de Instrumentacion Electronica, Universidad Veracruzana, Cto. Gonzalo 
      Aguirre Beltran S/N, Xalapa 91000, Veracruz, Mexico.
LA  - eng
PT  - Journal Article
DEP - 20220526
PL  - Switzerland
TA  - Sensors (Basel)
JT  - Sensors (Basel, Switzerland)
JID - 101204366
SB  - IM
MH  - Algorithms
MH  - Computer Simulation
MH  - Motion
MH  - *Robotic Surgical Procedures
PMC - PMC9183049
OTO - NOTNLM
OT  - autonomous robot
OT  - collision-free path planning
OT  - homotopy continuation methods
OT  - robot arm
COIS- The authors declare no conflict of interest.
EDAT- 2022/06/11 06:00
MHDA- 2022/06/14 06:00
PMCR- 2022/05/26
CRDT- 2022/06/10 01:25
PHST- 2022/04/06 00:00 [received]
PHST- 2022/05/16 00:00 [revised]
PHST- 2022/05/18 00:00 [accepted]
PHST- 2022/06/10 01:25 [entrez]
PHST- 2022/06/11 06:00 [pubmed]
PHST- 2022/06/14 06:00 [medline]
PHST- 2022/05/26 00:00 [pmc-release]
AID - s22114022 [pii]
AID - sensors-22-04022 [pii]
AID - 10.3390/s22114022 [doi]
PST - epublish
SO  - Sensors (Basel). 2022 May 26;22(11):4022. doi: 10.3390/s22114022.