OBPRM: an obstacle-based PRM for 3D workspaces
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Planning Tours of Robotic Arms among Partitioned Goals
International Journal of Robotics Research
A variational approach to path planning for hyper-redundant manipulators
Robotics and Autonomous Systems
| Hi-index | 0.00 |
This article describes a single-query probabilistic roadmap planner, called Small Tree, for hyper-redundant manipulators. The planner incrementally builds two solution paths from small alternating roadmaps rooted at the two input configurations, until a connection linking both paths is found. In this manner, the solution path grows from both input queries. The process has the advantage of continuously replacing the two initial input queries, whose original connectivity in configuration space may have been difficult, with new target configurations. The method also has the ability to initiate the manipulator motion before the complete solution is found by using the partial solution path connected to the initial configuration.