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COMPGEOM
1999
ACM

Motion Planning for a Rigid Body Using Random Networks on the Medial Axis of the Free Space

12 years 1 months ago
Motion Planning for a Rigid Body Using Random Networks on the Medial Axis of the Free Space
Several motion planning methods using networks of randomly generated nodes in the free space have been shown to perform well in a number of cases, however their performance degrades when paths are required to pass through narrow passagesin the free space. In 16 we proposed MAPRM, a method of sampling the con guration space in which randomly generated con gurations, free or not, are retracted onto the medial axis of the free space without having to rst compute the medial axis; this was shown to increase sampling in narrow passages. In this paper we give details of the MAPRM algorithm for the case of a free- ying rigid body moving in three dimensions, and show that the retraction may be carried out without explicitly computing the Cobstacles or the medial axis. We give theoretical arguments to show that this improves sampling in narrow corridors, and present preliminary experimental results comparing the performance to uniform random sampling from the free space.
Steven A. Wilmarth, Nancy M. Amato, Peter F. Still
Added 02 Aug 2010
Updated 02 Aug 2010
Type Conference
Year 1999
Where COMPGEOM
Authors Steven A. Wilmarth, Nancy M. Amato, Peter F. Stiller
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