Path planning in expansive configuration spaces
- 22 November 2002
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 2719-2726 vol.3
- https://doi.org/10.1109/robot.1997.619371
Abstract
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.Keywords
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