Publication
A space decomposition method for path planning of loop linkages
Conference Article
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Edition
2007
Pages
1882-1888
Doc link
http://dx.doi.org/10.1109/IROS.2007.4399140
File
Abstract
This paper introduces box approximations as a new tool for path planning of closed-loop linkages. Box approximations are finite collections of rectangloids that tightly envelop the robot's free space at a desired resolution. They play a similar role to that of approximate cell decompositions for open-chain robots - they capture the free-space connectivity in a multi-resolutive fashion and yield rectangloid channels enclosing collision-free paths - but have the additional property of enforcing the satisfaction of loop closure constraints frequently arising in articulated linkages. We present an efficient technique to compute such approximations and show how resolution-complete path planners can be devised using them. To the authors' knowledge, this is the first space-decomposition approach to closed-loop linkage path planning proposed in the literature.
Categories
robots.
Scientific reference
J.M. Porta, J. Cortés, L. Ros and F. Thomas. A space decomposition method for path planning of loop linkages, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, San Diego, CA, USA, pp. 1882-1888, IEEE.
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