4
2018.
Path Planning for Rigid Bodies Using Burs of Free C-Space
Abstract This paper presents a path planning algorithm designed for rigid, free-flying robots. The algorithm is based on recently proposed structure called bur of free C-space. The bur of free C-space was originally developed to improve the exploration of configuration spaces for articulated robots, which further enabled efficient and fast path planning. In this paper, we extend the notion of bur for configuration spaces of rigid body robots that move in 2D/3D spaces, i.e., for Lie groups SE(2) and SE(3). Such defined bur is then used within a suitable RRT-like algorithm. The numerical study shows measurable performance improvements with respect to classical path planning methods.