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Motion planning for a rigid body using random networks on the medial axis of the free space (1999)
| Content Provider | CiteSeerX |
|---|---|
| Author | Wilmarth, Steven A. Nancy M. Amato, Y. Peter F. Stiller, Z. |
| Description | in Proc. ACM Symp. on Computational Geometry (SoCG Several motion planning methods using networks of randomly generated nodes in the free space have been shown to perform well in a number of cases, however their performance degrades when paths are required topass through narrow passages in the free space. In [16] weproposed MAPRM, a method of sampling the con guration space in which randomly generated con gurations, free or not, are retracted onto the medial axis of the free space without having to rst compute the medial axis; this was shown to increase sampling in narrow passages. In this paper we give details of the MAPRM algorithm for the case of a free- ying rigid body moving in three dimensions, and show that the retraction may be carried out without explicitly computing the C-obstacles or the medial axis. We give theoretical arguments to show that this improves sampling in narrow corridors, and present preliminary experimental results comparing the performance to uniform random sampling from the free space. 1 |
| File Format | |
| Language | English |
| Publisher Date | 1999-01-01 |
| Access Restriction | Open |
| Subject Keyword | Maprm Algorithm Random Network Free Space Present Preliminary Experimental Result Free Ying Rigid Body Con Gurations Several Motion Performance Degrades Rigid Body Narrow Passage Motion Planning Con Guration Space Narrow Corridor Medial Axis Theoretical Argument |
| Content Type | Text |
| Resource Type | Article |
