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A real-time motion planning algorithm for a hyper-redundant set of mechanisms

  • Nir Shvalb (a1), Boaz Ben Moshe (a2) and Oded Medina (a3)

We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space ${\EuScript C}$. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace ${\EuScript O}$. We define a varying potential field f on ∂${\EuScript O}$ as a Morse function and follow $\vec{\nabla} f$. We then exemplify our algorithm on a redundant worm climbing robot with n degrees of freedom and compare our algorithm running results with those of the PRM.

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  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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