We consider the problem of repeatable motion planning for redundant robotic systems performing cyclic tasks in the presence of obstacles. For this open problem, we present a control-based randomized planner, which produces closed collision-free paths in configuration space and guarantees continuous satisfaction of the task constraints. The proposed algorithm, which relies on bidirectional search and loop closure in the task-constrained configuration space, is shown to be probabilistically complete. A modified version of the planner is also devised for the case in which configuration-space paths are required to be smooth. Finally, we present planning results in various scenarios involving both free-flying and nonholonomic robots to show the effectiveness of the proposed method.
Repeatable Motion Planning for Redundant Robots over Cyclic Tasks / Oriolo, Giuseppe; Cefalo, Massimo; Vendittelli, Marilena. - In: IEEE TRANSACTIONS ON ROBOTICS. - ISSN 1552-3098. - STAMPA. - 33:5(2017), pp. 1170-1183. [10.1109/TRO.2017.2715348]
Repeatable Motion Planning for Redundant Robots over Cyclic Tasks
Oriolo, Giuseppe
;Cefalo, Massimo;Vendittelli, Marilena
2017
Abstract
We consider the problem of repeatable motion planning for redundant robotic systems performing cyclic tasks in the presence of obstacles. For this open problem, we present a control-based randomized planner, which produces closed collision-free paths in configuration space and guarantees continuous satisfaction of the task constraints. The proposed algorithm, which relies on bidirectional search and loop closure in the task-constrained configuration space, is shown to be probabilistically complete. A modified version of the planner is also devised for the case in which configuration-space paths are required to be smooth. Finally, we present planning results in various scenarios involving both free-flying and nonholonomic robots to show the effectiveness of the proposed method.File | Dimensione | Formato | |
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