OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
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
Robot Motion Planning
Adaptive dynamics of articulated bodies
ACM SIGGRAPH 2005 Papers
Interactive simulation of one-dimensional flexible parts
Proceedings of the 2006 ACM symposium on Solid and physical modeling
Survey on model-based manipulation planning of deformable objects
Robotics and Computer-Integrated Manufacturing
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We present a route planning algorithm for cable and wire layouts in complex environments. Our algorithm precomputes a global roadmap of the environment by using a variant of the probabilistic roadmap method (PRM) and performs constrained sampling near the contact space. Given the initial and the final configurations, we compute an approximate path using the initial roadmap generated on the contact space. We refine the approximate path by performing constrained sampling and use adaptive forward dynamics to compute a penetration-free path. Our algorithm takes into account geometric constraints like non-penetration and physical constraints like multi-body dynamics and joint limits. We highlight the performance of our planner on different scenarios of varying complexity.