Towards efficient motion planning for manipulators with complex geometry
作者： Caigong Qin , S. Cameron , A. McLean
DOI: 10.1109/ISATP.1995.518772
关键词:
摘要: Considers the issues involved in writing path planners that can work well with complex geometric models of robots and workspaces, outline authors' implementing a solution. The claim many planning problems be solved by mixture global local planning. In turn, usefully supported provision efficient distance computations, authors describe variation on algorithm Gilbert, Johnson Keerthi (1988), they have packaged together hierarchical decomposition objects for added efficiency. Global requires more domain-dependent techniques, but been experimenting approximations to generalised Voronoi diagram, results this system are shown using planner based method virtual springs.
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