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

Download the digital copy of the doc pdf document

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, Estats Units d'Amèrica, pp. 1882-1888, IEEE.