Authors: Nancy M. Amato, Yan Wu

Venue: Proceedings of IEEE International Conference on Robotics and Automation
DOI: 10.1109/ROBOT.1996.503582
Link to Publication

Abstract:
This paper presents a new randomized roadmap method for motion planning for many DOF robots that can be used to obtain high quality roadmaps even when C-space is crowded. The main novelty in the authors' approach is that roadmap candidate points are chosen on C-obstacle surfaces. As a consequence, the roadmap is likely to contain difficult paths, such as those traversing long, narrow passages in C-space. The approach can be used for both collision-free path planning and for manipulation planning of contact tasks. Experimental results with a planar articulated 6 DOF robot show that, after preprocessing, difficult path planning operations can often be carried out in less than a second. 

@inproceedings{Amato-arrmfp-1996, 
 author = {Amato, N.M. and Wu, Y.}, 
 booktitle = {Proceedings of IEEE International Conference on Robotics and Automation}, 
 doi = {10.1109/ROBOT.1996.503582}, 
 number = {}, 
 pages = {113-120 vol.1}, 
 title = {A randomized roadmap method for path and manipulation planning}, 
 volume = {1}, 
 year = {1996} 
}