1. Global Vector Field Computation for Feedback Motion Planning
Liangjun Zhang1, Steven M. LaValle2, and Dinesh Manocha1
1University of North Carolina at Chapel Hill, USA
2University of Illinois at Urbana-Champion, USA
Perform approximate cell decomposition to the configuration space and construct a global vector field V within cells in the free space
The integral curve over V is guaranteed to avoid collision, converge to the goal, and be smooth
Demonstrate the performance on planar robots, articulated robots and a multi-robot systems with 6 DOFs
Useful for smooth feedback motion planning
goal
A global vector field V in the free space of a gear-shaped robot. Its integral curves are highlighted.