Roadmap Composition for Multi-Arm Systems Path Planning

被引：21
|
作者：
Gharbi, Mokhtar [1 ]
Cortes, Juan [1 ]
Simeon, Thierry [1 ]
机构：
[1] CNRS, LAAS, F-31077 Toulouse, France
来源：
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词：
PROBABILISTIC ROADMAPS; ROBOT; FIELD;
D O I：
10.1109/IROS.2009.5354415
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a new method for planning motions of multi-arm systems in constrained workspaces, for which state-of-the-art planners behave poorly. The method is based on the decomposition of the system into parts. Compact roadmaps are first computed for each part, and then, a super-graph is constructed by the composition of elementary roadmaps. Results presented for a three-arm system and a model of the complex DLR's Justin robot show a significant performance gain of such a two-stage roadmap construction method with respect to single-stage methods applied to the whole system.
引用
收藏
页码：2471 / 2476
页数：6
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