Robotics: Science and Systems I
Complete Path Planning for Planar Closed Chains Among Point Obstacles
G.F. Liu, J.C. TrinkleAbstract: A method to compute an exact cell decomposition and corresponding connectivity graph of the configuration space (C-space) of a planar closed chain manipulator moving among point obstacles is developed. By studying the global properties of the loop closure and collision constraint set, a cylindrical decomposition of the collision-free portion of C-space (C-free) is obtained without translating the constraints into polynomials as required by Collins' method [1]. Once the graph is constructed, motion planning proceeds in the usual way; graph search followed by path construction. Experimental results demonstrate the effectiveness of the algorithm.
Bibtex:
@INPROCEEDINGS{ Liu-RSS-05, AUTHOR = {G.F. Liu and J.C. Trinkle}, TITLE = {Complete Path Planning for Planar Closed Chains Among Point Obstacles}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2005}, ADDRESS = {Cambridge, USA}, MONTH = {June}, DOI = {10.15607/RSS.2005.I.005} }