Global Vector Field Computation for Feedback Motion Planning

Liangjun Zhang, Steven M. Lavalle, Dinesh Manocha

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We present a global vector field computation algorithm in configuration spaces for smooth feedback motion planning. Our algorithm performs approximate cell decomposition in the configuration space and approximates the free space using rectanguloid cells. We compute a smooth local vector field for each cell in the free space and address the issue of the smooth composition of the local vector fields between the non-uniform adjacent cells. We show that the integral curve over the computed vector field is guaranteed to converge to the goal configuration, be collision-free, and maintain C∞ smoothness. As compared to prior approaches, our algorithm works well on non-convex robots and obstacles.We demonstrate its performance on planar robots with 2 or 3 DOFs, articulated robots composed of 3 serial links and multi-robot systems with 6 DOFs.

Original languageEnglish (US)
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages477-482
Number of pages6
DOIs
StatePublished - 2009
Externally publishedYes
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period5/12/095/17/09

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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