Title :
Decomposition-based motion planning: a framework for real-time motion planning in high-dimensional configuration spaces
Author :
Brock, O. ; Kavraki, L.E.
Author_Institution :
Dept. of Comput. Sci., Rice Univ., Houston, TX, USA
Abstract :
Research in motion planning has been striving to develop faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel real-time motion planning framework, called decomposition-based motion planning, is proposed. It is particularly well suited for planning problems that arise in service and field robotics. It decomposes the original planning problem into simpler sub-problems, whose successive solution empirically results in a large reduction of the overall complexity. A particular implementation of decomposition-based planning is proposed. Experiments with an eleven degree-of-freedom mobile manipulator are presented.
Keywords :
manipulator dynamics; mobile robots; path planning; real-time systems; configuration spaces; decomposition-based planning; field robotics; mobile manipulator; motion planning; real-time system; service robotics; Application software; Computer science; Manipulators; Mobile computing; Motion planning; Orbital robotics; Path planning; Robot motion; Robotic assembly; Virtual prototyping;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Conference_Location :
Seoul, South Korea
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932817