Path planning in expansive configuration spaces

Citation
D. Hsu et al., Path planning in expansive configuration spaces, INT J C GEO, 9(4-5), 1999, pp. 495-512
Citations number
18
Categorie Soggetti
Engineering Mathematics
Journal title
INTERNATIONAL JOURNAL OF COMPUTATIONAL GEOMETRY & APPLICATIONS
ISSN journal
02181959 → ACNP
Volume
9
Issue
4-5
Year of publication
1999
Pages
495 - 512
Database
ISI
SICI code
0218-1959(199908/10)9:4-5<495:PPIECS>2.0.ZU;2-A
Abstract
We introduce the notion of expansiveness to characterize a family of robot configuration spaces whose connectivity can be effectively captured by a ro admap of randomly-sampled milestones. The analysis of expansive configurati on spaces has inspired us to develop a new randomized planning algorithm. T his new algorithm tries to sample only the portion of the configuration spa ce that is relevant to the current query, avoiding the cost of precomputing a roadmap for the entire configuration space. Thus, it is well-suited for problems where only a single query is submitted for a given environment. Th e algorithm has been implemented and successfully applied to complex assemb ly maintainability problems from the automotive industry.