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Title:Motion Planning for Highly Constrained Spaces
Author(s):Yershova, Anna; LaValle, Steven M.
Subject(s):motion planning
Abstract:We introduce a sampling-based motion planning method that automatically adapts to the difficulties caused by thin regions in the free space (not necessarily narrow corridors). These problems arise frequently in settings such as closed-chain manipulators, humanoid motion planning, and generally any time bodies are in contact or maintain close proximity with each other. Our method combines the aggressive exploration properties of RRTs with the intrinsic dimensionality-reduction properties of kd-trees to focus the sampling and searching in the appropriate subspaces.We handle closed-chains and other kinds of constraints in a general way that avoids inverse kinematics computations, if desired. We have implemented the method and show its computational advantages on a variety of challenging examples.
Issue Date:2008-07
Genre:Technical Report
Other Identifier(s):UIUCDCS-R-2008-2975
Rights Information:You are granted permission for the non-commercial reproduction, distribution, display, and performance of this technical report in any format, BUT this permission is only for a period of 45 (forty-five) days from the most recent time that you verified that this technical report is still available from the University of Illinois at Urbana-Champaign Computer Science Department under terms that include this permission. All other rights are reserved by the author(s).
Date Available in IDEALS:2009-04-23

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