Showing papers by "Jean-Paul Laumond published in 2000"
TL;DR: A variant of probabilistic roadmap methods (PRM) that recently appeared as a promising approach to motion planning is presented, exploiting a free-space structuring of the configuration space into visibility domains in order to produce small roadmaps, called visibility roadmaps.
Abstract: This paper presents a variant of probabilistic roadmap methods (PRM) that recently appeared as a promising approach to motion planning. We exploit a free-space structuring of the configuration space into visibility domains in order to produce small roadmaps, called visibility roadmaps. Our algorithm integrates an original termination condition related to the volume of the free space covered by the roadmap. The planner has been implemented within a software platform allowing us to address a large class of mechanical systems. Experiments show the efficiency of the approach, in particular for capturing narrow passages of collision-free configuration spaces.
353 citations
TL;DR: A local motion planner for a mobile robot pulling n trailers is proposed that verifies a topological property so that it is suitable for different global motion planning schemes including obstacle avoidance.
Abstract: Most nonholonomic path planning algorithms in the presence of obstacles use a local planner, that is, a method returning feasible paths between pairs of configurations without taking obstacles into account. To ensure convergence of the global method, however, the local planner has to account for small-time controllability: the length of the path joining two configurations has to tend toward zero with the distance between these configurations. We present such a local method for a robot towing n trailers, based on differential flatness and significantly more efficienct than former methods.
41 citations