Elastic bands: connecting path planning and control. Quinlan, S. & Khatib, O. In [1993] Proceedings IEEE International Conference on Robotics and Automation, pages 802–807 vol.2, May, 1993. doi abstract bibtex Elastic bands are proposed as the basis for a framework to close the gap between global path planning and real-time sensor-based robot control. An elastic band is a deformable collision-free path. The initial shape of the elastic is the free path generated by a planner. Subjected to artificial forces, the elastic band deforms in real time to a short and smooth path that maintains clearance from the obstacles. The elastic continues to deform as changes in the environment are detected by sensors, enabling the robot to accommodate uncertainties and react to unexpected and moving obstacles. While providing a tight connection between the robot and its environment, the elastic band preserves the global nature of the planned path. The framework is outlined, and an efficient implementation based on bubbles is discussed.\textless\textgreater
@inproceedings{quinlan_elastic_1993,
title = {Elastic bands: connecting path planning and control},
shorttitle = {Elastic bands},
doi = {10.1109/ROBOT.1993.291936},
abstract = {Elastic bands are proposed as the basis for a framework to close the gap between global path planning and real-time sensor-based robot control. An elastic band is a deformable collision-free path. The initial shape of the elastic is the free path generated by a planner. Subjected to artificial forces, the elastic band deforms in real time to a short and smooth path that maintains clearance from the obstacles. The elastic continues to deform as changes in the environment are detected by sensors, enabling the robot to accommodate uncertainties and react to unexpected and moving obstacles. While providing a tight connection between the robot and its environment, the elastic band preserves the global nature of the planned path. The framework is outlined, and an efficient implementation based on bubbles is discussed.{\textless}{\textgreater}},
booktitle = {[1993] {Proceedings} {IEEE} {International} {Conference} on {Robotics} and {Automation}},
author = {Quinlan, S. and Khatib, O.},
month = may,
year = {1993},
keywords = {Computer science, Control systems, Control theory, Joining processes, Laboratories, Path planning, Robot control, Robot sensing systems, Shape, Uncertainty, bubbles, computerised control, deformable collision-free path, elastic band, global path planning, path planning, real-time sensor-based robot control, robots, uncertainties},
pages = {802--807 vol.2}
}
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