A Random Loop Generator for Planning the Motions of Closed Kinematic Chains Using PRM Methods (2001)
| Citations: | 52 - 15 self |
BibTeX
@MISC{Cortes01arandom,
author = {J. Cortes and T. Simeon and J. P. Laumond},
title = {A Random Loop Generator for Planning the Motions of Closed Kinematic Chains Using PRM Methods},
year = {2001}
}
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Abstract
Closed kinematic chains in mechanical systems represent a challenge for their motion analysis, and therefore, for path planning. Closed mechanisms appear in dierent areas where path planning algorithms are applied. We propose a method to handle them within Probabilistic RoadMap (PRM) techniques. This method is an extension of the approach proposed in [5]. Our main contribution concerns the generation of random con gurations. The structure of the mechanism is analyzed in a preprocessing step. Then, in the roadmap construction phase, an algorithm called Random Loop Generator uses data from this analysis. This algorithm increases the probability of randomly generating valid con gurations of the closed mechanism. Experimental results demonstrate the eciency of the approach.
