Complete Path Planning for Planar Closed Chains Among Point Obstacles

Guanfeng Liu, J. C. Trinkle

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review

8 Citations (Scopus)


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.
Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationScience and Systems I
Place of PublicationCambridge, MA
PublisherMIT Press
Number of pages8
ISBN (Print)9780262701143
Publication statusPublished - 2005
Externally publishedYes
EventRobotics: Science and Systems I - Massachusetts Institute of Technology Cambridge, Massachusetts
Duration: 8 Jun 200511 Jun 2005


ConferenceRobotics: Science and Systems I
CityMassachusetts Institute of Technology Cambridge, Massachusetts

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