Motion planning with many degrees of freedom-random reflections at C-space obstacles
Motion planning with many degrees of freedom-random reflections at C-space obstacles
复制标题
多自由度运动规划——C空间障碍物的随机反射
DOI：
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发表时间：
1994
期刊：
影响因子：
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通讯作者：
H. Tolle
中科院分区：
文献类型：
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作者：
T. Horsch;F. Schwarz;H. Tolle
本文介绍了一种运动规划器，自动避免与障碍物的碰撞。不需要将障碍物变换到配置空间（C空间）中。给定机器人、负载和环境的多面体描述，该算法首先计算（离线）一个粗略表示自由空间骨架的图形。由于它的计算方式，这个图不保持连通性，虽然自由空间是一个连通集，这是假设在整个本文。在C-空间障碍物处随机反射，生成子图之间的连接。在第二步骤（在线）中，搜索图的开始配置和目标配置之间的连接。讨论了该算法对可移动障碍物的影响。该方法是通用的，并给出了四个例子来证明它的可行性，将其应用于不同的运动结构的3，6和12自由度。<<ETX>>
This paper describes a motion planner that automatically avoids collisions with obstacles. A transformation of obstacles into configuration space (C-space) is not necessary. Given a polyhedral description of robot, load and environment the algorithm first computes (off-line) a graph which roughly represents the skeleton of the freespace. Due to the way of its computation this graph does not preserve connectivity, although the freespace is a connected set, which is assumed throughout this paper. Reflecting randomly at C-space obstacles a connection between subgraphs is generated. In a second step (online) a connection between a start and a goal configuration to the graph is searched for. The impact of this algorithm concerning movable obstacles is discussed. This method is general and four examples are presented to demonstrate its feasibility by applying it to different kinematic structures with 3, 6 and 12 degrees of freedom.<<ETX>>