Robotics: Science and Systems I

Complete Path Planning for Planar Closed Chains Among Point Obstacles

G.F. Liu, J.C. Trinkle

Abstract: A method to compute an exact cell decomposition and corresponding connectivity graph of the configuration space (C-space) of a planar closed chain manipulator moving among point obstacles is developed. By studying the global properties of the loop closure and collision constraint set, a cylindrical decomposition of the collision-free portion of C-space (C-free) is obtained without translating the constraints into polynomials as required by Collins' method [1]. Once the graph is constructed, motion planning proceeds in the usual way; graph search followed by path construction. Experimental results demonstrate the effectiveness of the algorithm.



    AUTHOR    = {G.F. Liu and J.C. Trinkle},
    TITLE     = {Complete Path Planning for Planar Closed Chains
                 Among Point Obstacles},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems},
    YEAR      = {2005},
    ADDRESS   = {Cambridge, USA},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2005.I.005}