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Dealing with Geometric Complexity in Motion Planning
| Content Provider | Semantic Scholar |
|---|---|
| Author | Cameron, Stephen |
| Copyright Year | 2007 |
| Abstract | We consider the issues involved in writing path planners that can work well with complex geometric models of robots and workspaces, and outline our work in implementing a solution. We claim that many path planning problems can be solved by a mixture of global and local planning. In turn, local planning can be usefully supported by the provision of efficient distance computations. Global planning requires more domain-dependent techniques, but we have been experimenting with approximations to the Generalised Voronoi Diagram for compactness of representation, and the use of rule-based systems to encode tactical knowledge. Results are shown using a two path planning frameworks; one for industrial vehicles, and one for manipulators. |
| File Format | PDF HTM / HTML |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
