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Path planning under kinematic constraints by rapidly exploring manifolds

Author
Jaillet, L.G.; Porta, J.
Type of activity
Journal article
Journal
IEEE journal of robotics and automation
Date of publication
2013
Volume
29
Number
1
First page
105
Last page
117
DOI
https://doi.org/10.1109/TRO.2012.2222272 Open in new window
Repository
http://hdl.handle.net/2117/22501 Open in new window
URL
http://dx.doi.org/10.1109/TRO.2012.2222272 Open in new window
Abstract
The situation arising in path planning under kinematic constraints, where the valid configurations define a manifold embedded in the joint ambient space, can be seen as a limit case of the well-known narrow corridor problem. With kinematic constraints, the probability of obtaining a valid configuration by sampling in the joint ambient space is not low but null, which complicates the direct application of sampling-based path planners. This paper presents the AtlasRRT algorithm, which is a planner...
Citation
Jaillet, L.G.; Porta, J.M. Path planning under kinematic constraints by rapidly exploring manifolds. "IEEE transactions on robotics", 2013, vol. 29, núm. 1, p. 105-117.
Keywords
Robots Author keywords: path planning, higher-dimensional continuation, kinematic constraints, manifolds
Group of research
KRD - Kinematics and Robot Design

Participants