Name
Abstract | ||
|---|---|---|
We consider path planning for a rigid spatial robot moving amidst polyhedral obstacles. robot is either a rod or a ring. Being axially-symmetric, their configuration space is R^3 x S^2 with 5 degrees of freedom (DOF). Correct, complete and practical path planning for such robots is a long standing challenge in robotics. While the rod is one of the most widely studied spatial robots in path planning, the ring seems to be new, and a rare example of a non-simply-connected robot. This work provides rigorous and complete algorithms for these robots with theoretical guarantees. We implemented the algorithms in our open-source Core Library. Experiments show that they are practical, achieving near real-time performance. We compared our planner to state-of-the-art sampling planners in OMPL. Our subdivision path planner is based on the twin foundations of epsilon-exactness and soft predicates. Correct implementation is relatively easy. The technical innovations include subdivision atlases for S^2, introduction of Sigma_2 representations for footprints, and extensions of our feature-based technique for opening up the blackbox of collision detection. |
Year | Venue | Field |
|---|---|---|
2019 | arXiv: Computational Geometry | Discrete mathematics,Combinatorics,Computer science,Planner,Subdivision,Rod |
DocType | Volume | Citations |
Journal | abs/1903.09416 | 0 |
PageRank | References | Authors |
0.34 | 0 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ching-Hsiang Hsu | 1 | 0 | 1.35 |
| Yi-jen Chiang | 2 | 503 | 38.21 |
| Chee Yap | 3 | 0 | 1.01 |