Title :
Deterministic path planning for planar assemblies
Author_Institution :
Dept. of Comput. Sci., Purdue Univ., West Lafayette, IN, USA
Abstract :
I present a deterministic path planning algorithm for an assembly of rigid planar parts connected by joints. The part boundaries are comprised of line segments and circular arcs. The algorithm is based on configuration space computation and search. It is complete for one moving part and is heuristic for multiple parts. It is the first complete algorithm that is practical for real-world applications. It is more reliable than randomized algorithms, which are inherently incomplete. It solves problems with many parts, crowded environments, tight part fits, and closed chains.
Keywords :
assembly planning; computational complexity; heuristic programming; path planning; search problems; circular arcs; closed chains; complete algorithm; configuration space computation; crowded environments; deterministic path planning; heuristic; line segments; planar assemblies; randomized algorithms; rigid planar parts; tight part fits; Computational geometry; Computer science; Legged locomotion; Manipulators; Mechanical systems; Mobile robots; Orbital robotics; Path planning; Robot kinematics; Robotic assembly;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932827
