A randomized roadmap method for path and manipulation planning Conference Paper

abstract

• This paper presents a new randomized roadmap method for motion planning for many dof robots that can be used to obtain high quality roadmaps even when C-space is crowded. The main novelty in our approach is that roadmap candidate points are chosen on C-obstacle surfaces. As a consequence, the roadmap is likely to contain difficult paths, such as those traversing long, narrow passages in C-space. The approach can be used for both collision-free path planning and for manipulation planning of contact tasks. Experimental results with a planar articulated 6 dof robot show that, after preprocessing, difficult path planning operations can often be carried out in less than a second.

authors

• Amato, Nancy

published proceedings

• 1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4

author list (cited authors)

• Amato, N. M., & Wu, Y.

complete list of authors

• Amato, NM||Wu, Y

publication date

• January 1996

published in

• IEEE International Conference on Robotics and Automation  Journal

International Standard Book Number (ISBN) 10

• 0-7803-2989-9

start page

• 113

end page

• 120

volume

• 1