Robot Motion Planning
Vector field design on surfaces
ACM Transactions on Graphics (TOG)
Planning Algorithms
Generalized penetration depth computation
Computer-Aided Design
International Journal of Robotics Research
A subdivision algorithm in configuration space for findpath with rotation
IJCAI'83 Proceedings of the Eighth international joint conference on Artificial intelligence - Volume 2
Discrete abstractions for robot motion planning and control in polygonal environments
IEEE Transactions on Robotics
Vector fields for robot navigation along time-varying curves in n-dimensions
IEEE Transactions on Robotics
Motion planning and reactive control on learnt skill manifolds
International Journal of Robotics Research
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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.