Journal
ROBOTICA
Volume 31, Issue -, Pages 1327-1335Publisher
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574713000489
Keywords
Motion planning; Path planning; Redundant manipulators; Open chain; Serial manipulator design and kinematics; Legged robots; Climbing robots
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We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space 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 O. We define a varying potential field f on partial derivative O as a Morse function and follow (del) over right arrowf. 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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