Benchmark of sampling based motion planners in bin picking manipulation task

Realpe, Sebastian, Roldan, Felipe Gonzalez, Fajardo, Jose Manuel, Hernandez, Juan D. and Cardenas, Pedro-F. 2022. Benchmark of sampling based motion planners in bin picking manipulation task. Presented at: 2022 27th International Conference on Automation and Computing (ICAC), Bristol, UK, 1-3 September 2022. 2022 27th International Conference on Automation and Computing (ICAC). IEEE, 10.1109/ICAC55051.2022.9911132

Full text not available from this repository.

Abstract

There is a wide variety of motion planning techniques for robots; however, there are few tools to test and compare the performance of motion planners in various environments. This work proposes a test layout for a set of industrial robots to measure their performance in manipulation in a constrained environment. The developed work uses ROS and the benchmarking tool Robowflex. The comparison allowed to obtain the performance results of multiple motion planners in a shorter time than in previous works. These results facilitate the correct choice of a motion planner, which is critical in current industrial environments. The conducted benchmark provides a valuable tool for potential comparisons of new motion strategies to proven and established methods.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Published Online
Status:	Published
Schools:	Computer Science & Informatics
Publisher:	IEEE
ISBN:	978-1-6654-9807-4
ISSN:	978-1-6654-9807-4
Last Modified:	05 Jan 2024 04:44
URI:	https://orca.cardiff.ac.uk/id/eprint/154848

Citation Data

Cited 1 time in Scopus. View in Scopus. Powered By Scopus® Data

Actions (repository staff only)

Edit Item