Randomized path planning on manifolds based on higher-dimensional continuation
Tipus de documentArticle
Data publicació2012
Condicions d'accésAccés obert
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Abstract
Despite the significant advances in path planning methods, highly constrained problems are still challeng-
ing. In some situations, the presence of constraints defines a configuration space that is a non-parametrizable
manifold embedded in a high dimensional ambient space. In these cases, the use of sampling-based path
planners is cumbersome since samples in the ambient space have low probability to lay on the configuration
space manifold. In this paper, we present a new path planning algorithm specially tailored for highly constrained
systems. The proposed planner builds on recently developed tools for higher-dimensional continuation, which
provide numerical procedures to describe an implicitly defined manifold using a set of local charts. We propose
to extend these methods focussing the generation of charts on the path between the two configurations to connect
and randomizing the process to find alternative paths in the presence of obstacles. The advantage of this planner
comes from the fact 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.M.; Jaillet, L.; Bohigas, O. Randomized path planning on manifolds based on higher-dimensional continuation. "International journal of robotics research", 2012, vol. 31, núm. 2, p. 201-215.
ISSN0278-3649
Versió de l'editorhttp://dx.doi.org/10.1177/0278364911432324
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