Path planning using a Jacobian-based freespace generation algorithm
作者： B. Paden , A. Mees , M. Fisher
DOI: 10.1109/ROBOT.1989.100225
关键词: Jacobian matrix and determinant 、 Configuration space 、 Mathematics 、 Trajectory 、 Algorithm 、 Representation (mathematics) 、 Path (graph theory) 、 Motion planning 、 Any-angle path planning 、 Workspace
摘要: A simple and efficient algorithm is developed to generate a 2"-tree (generalized quad-tree) representation of the free configuration space for manipulator moving in workspace with obstacles. The based on existence uniform bounds Jacobians relating differential motions points joint motions. This can be searched collision-free path optimized dynamic constraints produce an executable trajectory.
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