Complete Path Planning for Planar Closed Chains Among Point Obstacles

Guanfeng Liu; J. C. Trinkle

Complete Path Planning for Planar Closed Chains Among Point Obstacles

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

Abstract

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 language	English
Title of host publication	Robotics
Subtitle of host publication	Science and Systems I
Place of Publication	Cambridge, MA
Publisher	MIT Press
Pages	33-40
Number of pages	8
ISBN (Print)	9780262701143
Publication status	Published - 2005
Externally published	Yes
Event	Robotics: Science and Systems I - Massachusetts Institute of Technology Cambridge, Massachusetts Duration: 8 Jun 2005 → 11 Jun 2005

Conference

Conference	Robotics: Science and Systems I
City	Massachusetts Institute of Technology Cambridge, Massachusetts
Period	8/06/05 → 11/06/05

Cite this

@inproceedings{86d259119c264d7b8676a88541f39189,

title = "Complete Path Planning for Planar Closed Chains Among Point Obstacles",

abstract = "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.",

author = "Guanfeng Liu and Trinkle, \{J. C.\}",

year = "2005",

language = "English",

isbn = "9780262701143",

pages = "33--40",

booktitle = "Robotics",

publisher = "MIT Press",

note = "Robotics: Science and Systems I ; Conference date: 08-06-2005 Through 11-06-2005",

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TY - GEN

T1 - Complete Path Planning for Planar Closed Chains Among Point Obstacles

AU - Liu, Guanfeng

AU - Trinkle, J. C.

PY - 2005

Y1 - 2005

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/84555181132

M3 - Conference proceeding contribution

SN - 9780262701143

SP - 33

EP - 40

BT - Robotics

PB - MIT Press

CY - Cambridge, MA

T2 - Robotics: Science and Systems I

Y2 - 8 June 2005 through 11 June 2005

ER -

Complete Path Planning for Planar Closed Chains Among Point Obstacles

Abstract

Conference

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