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Topology preserving approximation of free configuration space

Title
Topology preserving approximation of free configuration space
Authors
Varadhan G.Kim Y.J.Krishnan S.Manocha D.
Ewha Authors
김영준
SCOPUS Author ID
김영준scopus
Issue Date
2006
Journal Title
Proceedings - IEEE International Conference on Robotics and Automation
ISSN
1050-4729JCR Link
Citation
vol. 2006, pp. 3041 - 3048
Indexed
SCOPUS scopus
Abstract
We present a simple algorithm for approximating the free configuration space of robots with low degrees of freedom (DOFs). We represent the free space as an arrangement of contact surfaces. We approximate the free space using an adaptive volumetric grid that is computed by performing simple geometric tests on the contact surfaces. We use an isosurface extraction algorithm to compute a piecewise-linear approximation to the boundary of the free space. We prove that our approximation is topologically equivalent to the exact free space boundary. We also ensure that our approximation is geometrically close to the exact free space boundary by bounding its two-sided Hausdorff error. We have applied our algorithm to compute the free configuration space for the following instances: (1) a 2D polygonal robot with translational and rotational DOFs navigating among polygonal obstacles, and (2) a 3D polyhedral robot translating among polyhedral obstacles. In practice, our algorithm works well on robots with three DOFs. © 2006 IEEE.
DOI
10.1109/ROBOT.2006.1642164
ISBN
0780395069; 9780780395060
Appears in Collections:
엘텍공과대학 > 컴퓨터공학과 > Journal papers
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