Path planning in expansive configuration spaces

被引：0
|
作者：
Hsu, D
Latombe, JC
Motwani, R
机构：
来源：
1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4 | 1997年
关键词：
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 introduce the notion of expansiveness to characterize a family of robot configuration spaces whose connectivity can be effectively captured by a roadmap of randomly-sampled milestones. The analysis of expansive configuration spaces has inspired us to develop a new randomized planning algorithm. This algorithm tries to sample only the portion of the configuration space that is relevant to the current query, avoiding the cost of precomputing a roadmap for the entire configuration space. Thus, it is well-suited for problems where a single query is submitted for a given environment. The algorithm has been implemented and successfully applied to complex assembly maintainability problems from the automotive industry.
引用
收藏
页码：2719 / 2726
页数：8
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