On Improving the Clearance for Robots
in High-Dimensional Configuration Spaces
in High-Dimensional Configuration Spaces
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Abstract
In robot motion planning, many algorithms have been proposed that create a path
for a robot in an environment with obstacles. Since it can be hard to create
such paths, most algorithms are aimed at finding a solution. However,
for most applications the paths must be of a good quality as well. That is,
paths should preferably be short, be smooth, and should preserve some clearance
from the obstacles. In this paper, we focus on improving the clearance of
paths. Existing methods only extract high clearance paths for rigid,
translating bodies. We present an algorithm that improves the clearance along
paths of a broader range of robots which may reside in arbitrary
high-dimensional configuration spaces. Examples include planar, free-flying and
articulated robots.
Reference
Roland Geraerts and Mark Overmars. On Improving the Clearance for Robots in
High-Dimensional Configuration Spaces.
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'05), 2005, pp. 4074-4079. Full text: [pdf, ps.gz] Presentation: [ppt]
The algorithm retracts the path traversed by a robot to the medial axis of the
C-space.
The extended version of this paper can be found here. We used the following three test environments:
We applied our new retraction algorithm to these paths. The results are visualized in the figure below. The left column shows the initial paths. The middle column shows the paths retracted by our previous approach. The pictures in the right column show our new results. Click on a picture to see the corresponding animation in VRML. You need to have a VRML-client installed to view the animations.
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