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Mathematical Problems in Engineering
Volume 2016, Article ID 3973467, 19 pages
Research Article

Adaptation Algorithm of Geometric Graphs for Robot Motion Planning in Dynamic Environments

Robotics R&D Group, Korea Institute of Industrial Technology (KITECH), Ansan, Republic of Korea

Received 22 September 2015; Accepted 6 December 2015

Academic Editor: Hou-Sheng Su

Copyright © 2016 Jae-Han Park et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This study proposes an adaptive graph algorithm for collision-free motion planning of articulated robots in dynamic environments. For this purpose, deformations of the configuration space were analyzed according to the changes of the workspace using various simulations. Subsequently, we adopted the principles of gas motion dynamics in our adaptation algorithm to address the issue of the deformation of the configuration space. The proposed algorithm has an adaptation mechanism based on expansive repulsion and sensory repulsion, and it can be performed to provide the entire adaptation using distributed processing. The simulation results confirmed that the proposed method allows the adaptation of the roadmap graph to changes of the configuration space.