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  1. Myanmar Institute of Information Technology
  1. Myanmar Institute of Information Technology
  2. Faculty of Computing

Newton's Divided Difference Interpolation to Robot Path Planning for Overcoming Obstacle

http://hdl.handle.net/20.500.12678/0000006931
http://hdl.handle.net/20.500.12678/0000006931
0e9c0970-0e63-4059-a3e9-c00390e1a4eb
4efa3944-0af2-4541-9a1a-499942b852b9
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Newton's Newton's Divided Difference Interpolation to Robot Path Planning for Overcoming Obstacle.pdf (1.5 MB)
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Publication type
Journal article
Upload type
Publication
Title
Title Newton's Divided Difference Interpolation to Robot Path Planning for Overcoming Obstacle
Language en
Publication date 2020-06-11
Authors
Aye Aye Thant
Description
The main contribution of this paper is generating robot path planning for
overcoming an obstacle from mathematical point of view. The interpolation method applied for
this goal is Newton’s divided difference interpolation. Firstly, the kinematic constraints are
formulated with adjusting the obstacle constraints. Then path planning for overcoming obstacle
of biped robot is generated by using the propose interpolation method. Matlab figures are used
to verify the numerical resulting polynomials. Demonstration results show good performance of
the propose method, where the biped can overcome an 15 × 10 inch obstacle in the sagittal
plane without colliding with it.
Keywords
Newton’s divided difference interpolation, Obstacle, Overcoming, Robot Path Planning
Journal articles
No.2
Engineering Technology and Science Journal, tukly
224-229
Vol.2
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