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A space decomposition method for path planning of loop linkages

AuthorsPorta, Josep M. ; Cortés, Juan; Ros, Lluís ; Thomas, Federico
Issue Date2007
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE/RSJ International Conference on Intelligent Robots and Systems: 1882-1888 (2007)
AbstractThis 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.
DescriptionPresentado al IROS/2007 celebrado en San Diego (USA).
Publisher version (URL)http://dx.doi.org/10.1109/IROS.2007.4399140
Appears in Collections:(IRII) Libros y partes de libros
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