A randomized roadmap method for path and manipulation planning

作者：Nancy M. Amato, You Wu · 年份：2002 · DOI：10.1109/robot.1996.503582 · 被引用次数：372 · 研究领域：Robotic Path Planning Algorithms、Robot Manipulation and Learning、Robotics and Sensor-Based Localization

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 the authors' 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.