Motion Planning of Planar Closed Chains Based on Structural Sets

Motion Planning of Planar Closed Chains Based on Structural Sets

This paper investigates the motion planning problem of planar m-link (m≥4) closed chains among point obstacles with extension to arbitrary convex 2-D obstacles. The configuration space (C-space) of closed chains is embedded into two copies of m-3 dimensional tori. Two structural sets, the...

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Bibliographic Details
Main Authors: Guanfeng Liu, Jeff Trinkle, Yong Yang, Shaoming Luo
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Path planning
closed chains
boundary variety
bifurcation
narrow passages
sampling algorithm
Online Access:https://ieeexplore.ieee.org/document/9123337/

Internet

https://ieeexplore.ieee.org/document/9123337/

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