Resolution-Exact Planner for Non-Crossing 2-Link Robot
نویسندگان
چکیده
We consider the motion planning problem for a 2-link robot amidst polygonal obstacles. The two links are normally allowed to cross each other, but in this paper, we introduce the non-crossing version of this robot. This 4DOF configuration space is novel and interesting. Using the recently introduced algorithmic framework of Soft Subdivision Search (SSS), we design a resolution-exact planner for this robot. We introduce a new data structure for representing boxes and doing subdivision in this non-crossing configuration space. Our implementation achieved real-time performance for a suite of non-trivial obstacle sets.
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Resolution-Exact Planner for Thick Non-Crossing 2-Link Robots
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