Energy-Efficient Path Planning: Designed Software Implementation

DOI

10.2991/csit-19.2019.19How to use a DOI?

Keywords

anthropomorphic manipulator, path planning, energy efficient movement, software implementation, traffic planning, software components

Abstract

The paper continues developing the method of a real-time quasi-optimal trajectory planning for anthropomorphic manipulator. Our goal includes software implementation of previously designed methods and algorithms of the quasi-optimal trajectory for anthropomorphic manipulator. The general structure and interrelation of the developed methods and algorithms is described, as well as their significance for obtaining the final result. Component diagrams and communication diagrams are presented, on the basis of which the interfaces of software components are built. Their structure and composition of each software component are given. The description of the interfaces of various components of the system allows the use of design components as part of other software systems, for example, designed to control the manipulators of an anthropomorphic robot or as part of other modeling systems. The illustration of the developed software implementation is given. For the software implementation performed by the author, with standard input data, the necessary variable memory capacity is about 212 Kbytes, which allows using the proposed software implementation on the computer systems of existing manipulators in real time.

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Vyacheslav Petrenko
AU  - Fariza Tebueva
AU  - Vladimir Antonov
AU  - Nikolay Untewsky
AU  - Mikhail Gurchinsky
PY  - 2019/12
DA  - 2019/12
TI  - Energy-Efficient Path Planning: Designed Software Implementation
BT  - Proceedings of the 21st International Workshop on Computer Science and Information Technologies (CSIT 2019)
PB  - Atlantis Press
SP  - 112
EP  - 118
SN  - 2589-4900
UR  - https://doi.org/10.2991/csit-19.2019.19
DO  - 10.2991/csit-19.2019.19
ID  - Petrenko2019/12
ER  -