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Open Access item Path Planning on Manifolds Using Randomized Higher-Dimensional Continuation

Authors:Porta Pleite, Josep Maria
Jaillet, Léonard
Issue Date:2011
Citation:Springer Tracts in Advanced Robotics 68: 337-353 (2011)
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.
Description:16 páginas, 5 figuras, 1 tabla.-- El PDF es la versión pre-print.-- Tarbajo presentado al IX International Workshop on the Algorithmic Foundations of Robotics.
Publisher version (URL):http://dx.doi.org/10.1007/978-3-642-17452-0_20
Appears in Collections:(IRII) Libros y partes de libros

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