C-space cell defragmentation for general translational assembly planning

被引：0
|
作者：
Schwarzer, F [1 ]
Schweikard, A [1 ]
机构：
[1] Tech Univ Munich, D-80290 Munich, Germany
来源：
2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2001年
关键词：
geometric reasoning; assembly planning; motion planning; complete algorithms; configuration space computation;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present an exact and practical incremental method for general translational assembly planning. In practical cases, an exact and complete representation of the relevant free regions in the high-dimensional assembly configuration space becomes amenable by incrementally computing an arrangement of cells in d-dimensional space. Here we introduce a novel reduction scheme, D-node reduction, that allows for online defragmentation of the computed cell decomposition and thus significant speedup and reduction of storage requirements. Experimental results for both two and three-dimensional assemblies show the practicality of the proposed approach and illustrate the impact of the new reduction scheme.
引用
收藏
页码：1537 / 1542
页数：6
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