Randomized Path Planning for Linkages with Closed Kinematic Chains
Author: Jeffery Howard Yakey
Publisher:
Published: 1999
Total Pages: 152
ISBN-13:
DOWNLOAD EBOOKThere are also a number of applications outside of robotics for which our framework is useful, including computational chemistry and virtual prototyping. We adapt two randomized techniques for motion planning that have had much recent success in solving difficult problems: probabilistic roadmaps and rapidly-exploring random trees. Random sampling and incremental motion algorithms are used in both of these approaches to search the solution space of a linkage containing closed kinematic chains. Our framework has been implemented using probabilistic roadmaps and rapidly-exploring random trees for linkages in a two-dimensional environment with obstacles.