License: 
Creative Commons Attribution 3.0 Unported license (CC BY 3.0)
When quoting this document, please refer to the following
DOI: 10.4230/LIPIcs.SoCG.2019.43
URN: urn:nbn:de:0030-drops-104477
URL: http://dagstuhl.sunsite.rwth-aachen.de/volltexte/2019/10447/
Hsu, Ching-Hsiang ;
Chiang, Yi-Jen ;
Yap, Chee
Rods and Rings: Soft Subdivision Planner for R^3 x S^2
Abstract
We consider path planning for a rigid spatial robot moving amidst polyhedral obstacles. Our robot is either a rod or a ring. Being axially-symmetric, their configuration space is R^3 x S^2 with 5 degrees of freedom (DOF). Correct, complete and practical path planning for such robots is a long standing challenge in robotics. While the rod is one of the most widely studied spatial robots in path planning, the ring seems to be new, and a rare example of a non-simply-connected robot. This work provides rigorous and complete algorithms for these robots with theoretical guarantees. We implemented the algorithms in our open-source Core Library. Experiments show that they are practical, achieving near real-time performance. We compared our planner to state-of-the-art sampling planners in OMPL [Sucan et al., 2012].
Our subdivision path planner is based on the twin foundations of epsilon-exactness and soft predicates. Correct implementation is relatively easy. The technical innovations include subdivision atlases for S^2, introduction of Sigma_2 representations for footprints, and extensions of our feature-based technique for "opening up the blackbox of collision detection".
BibTeX - Entry
@InProceedings{hsu_et_al:LIPIcs:2019:10447,
author = {Ching-Hsiang Hsu and Yi-Jen Chiang and Chee Yap},
title = {{Rods and Rings: Soft Subdivision Planner for R^3 x S^2}},
booktitle = {35th International Symposium on Computational Geometry (SoCG 2019)},
pages = {43:1--43:17},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-104-7},
ISSN = {1868-8969},
year = {2019},
volume = {129},
editor = {Gill Barequet and Yusu Wang},
publisher = {Schloss Dagstuhl--Leibniz-Zentrum fuer Informatik},
address = {Dagstuhl, Germany},
URL = {http://drops.dagstuhl.de/opus/volltexte/2019/10447},
URN = {urn:nbn:de:0030-drops-104477},
doi = {10.4230/LIPIcs.SoCG.2019.43},
annote = {Keywords: Algorithmic Motion Planning, Subdivision Methods, Resolution-Exact Algorithms, Soft Predicates, Spatial Rod Robots, Spatial Ring Robots}
}
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Keywords: |
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Algorithmic Motion Planning, Subdivision Methods, Resolution-Exact Algorithms, Soft Predicates, Spatial Rod Robots, Spatial Ring Robots |
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Collection: |
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35th International Symposium on Computational Geometry (SoCG 2019) |
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Issue Date: |
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2019 |
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Date of publication: |
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11.06.2019 |
