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Cell Representations of the Configuration Space for Planning Optimal Paths
Ajay Kannan
Dartmouth TR2015-776

Abstract: This paper proposes sampling techniques to approximate the configuration space for optimal motion planning. We sample valid configurations in the workspace and construct path subconvex cells in the free configuration space. The radius of each cell is calculated using lower bounds on the robot’s minimum time to collision. Using theorems about path convexity, the shortest paths found between any two points in the decomposed space are guaranteed to be safe. Experimental results are provided for a planar arm.

Note: Senior Honors Thesis. Advisor: Devin Balkcom.


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   Ajay Kannan, "Cell Representations of the Configuration Space for Planning Optimal Paths." Dartmouth Computer Science Technical Report TR2015-776, May 2015.


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