Chapitre D'ouvrage Année : 2005

Sampling-Based Motion Planning under Kinematic Loop-Closure Constraints

Résumé

Kinematic loop-closure constraints significantly increase the difficulty of motion planning for articulated mechanisms. Configurations of closed-chain mechanisms do not form a single manifold, easy to parameterize, as the configurations of open kinematic chains. In general, they are grouped into several subsets with complex and a priori unknown topology. Sampling-based motion planning algorithms cannot be directly applied to such closed-chain systems. This paper describes our recent work [7] on the extension of sampling-based planners to treat this kind of mechanisms.

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hal-01987883 , version 1 (21-01-2019)

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  • HAL Id : hal-01987883 , version 1

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Juan Cortés, Thierry Simeon. Sampling-Based Motion Planning under Kinematic Loop-Closure Constraints. Algorithmic Foundations of Robotics VI, pp.75-90, 2005. ⟨hal-01987883⟩
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