Robot Lab: Robot Path Planning William Regli Department of Computer Science (and Departments of ECE and MEM) Drexel University Introduction to Motion Planning Applications Overview of the Problem Basics – Planning for Point Robot Visibility Graphs Roadmap Cell Decomposition
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William RegliDepartment of Computer Science(and Departments of ECE and MEM)Drexel University
Are two given points connected by a path?
Compute a collision-free path for a rigid or articulated moving object among static obstacles.
Continuous sequence of collision-free robot configurations connecting the initial and goal configurations
Q: How to perform the intersection test?
Can we do better?
Shakey Project, SRI [Nilsson, 1969]
Introduced by computational geometry researchers. Generate paths that maximizes clearance. Applicable mostly to 2-D configuration spaces.
First complete general method that applies to spaces of any dimensions and is singly exponential in the number of dimensions [Canny 1987]
The free space F is represented by a collection of non-overlapping simple cells whose union is exactly F
L: Guiding Path
Described in Latombe’s book
Only subdivide along L
Connectivity graph is not connected
Sufficient condition for deciding path non-existence
Cells in C-obstacle
Roadmap in F
Gf : Free Connectivity Graph
G: Connectivity Graph
Gf is a subgraph of G
Pseudo free edge for two adjacent cells
Gsf = Gf + Pseudo-edges