Path planning on manifolds using randomized higher-dimensional continuation
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Cita com:
hdl:2117/12358
Tipus de documentText en actes de congrés
Data publicació2010
EditorSpringer
Condicions d'accésAccés obert
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
Despite the significant advances in path planning methods, problems involving highly constrained spaces are still challenging. In particular, in many situations the configuration space is a non-parametrizable variety implicitly defined by constraints, which complicates the successful generalization of sampling-based path planners. In this paper, we present a new path planning algorithm specially tailored for highly constrained systems. It builds on recently developed tools for Higher-dimensional Continuation, which provide numerical procedures to describe an implicitly defined variety using a set of local charts. We propose to extend these
methods to obtain an efficient path planner on varieties, handling highly constrained
problems. The advantage of this planner comes from that it directly operates into
the configuration space and not into the higher-dimensional ambient space, as most
of the existing methods do.
CitacióPorta, J.; Jaillet, L. Path planning on manifolds using randomized higher-dimensional continuation. A: International Workshop on the Algorithmic Foundations of Robotics. "9th International Workshop on the Algorithmic Foundations of Robotics". Singapore: Springer, 2010, p. 337-353.
Versió de l'editorhttp://dx.doi.org/10.1007/978-3-642-17452-0_20
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Porta jaillet.pdf | 543,0Kb | Visualitza/Obre |