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Path planning in distorted configuration space

Published online by Cambridge University Press:  30 May 2016

Chao Chen
Chao Chen*
Affiliation:
Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, Victoria, Australia
*
*Corresponding author. E-mail: chao.chen@monash.edu
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Summary

An effective algorithm for path planning is introduced based on a novel concept, the distorted configuration space (DC-space), where all obstacles deform into dimensionless geometric objects. Path planning in this space can be conducted by simply connecting the starting position and ending position with a straight line. This linear path in the DC-space is then mapped back into a feasible in the original C-space. The advantage of this approach is that no trial-and-error or iteration is needed while a feasible path can be found directly if it exists. An algorithm with general formulas is derived. Examples in 2D and 3D are provided to validate this concept and algorithm.

Keywords

Path planningAutomationMotion planningNavigationMobile robots
Type
Articles
Information
Robotica , Volume 35 , Issue 7 , July 2017 , pp. 1585 - 1597
Copyright
Copyright © Cambridge University Press 2016 

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