A Path Clearance Optimization Method Based on Retraction Algorithm for Motion Planning

Fu Yu Yan; Fan Wu; Fei Peng; Zhi Jie Zhu

doi:10.4028/www.scientific.net/AMM.687-691.1241

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 687-691A Path Clearance Optimization Method Based on...

A Path Clearance Optimization Method Based on Retraction Algorithm for Motion Planning

Abstract:

The retraction algorithm could make the whole path lie on the medial axis in 2D environment. However, it limits the initial and goal configuration lie on the medial axis. Therefore the paper proposed a path clearance optimization method to deal with the problem. The method retracted configurations of the original path to the medial axis. Then it added the retracted configurations, the initial and goal configuration to the retracted path. We apply R-retraction algorithm to the local paths, but not to the local paths between the initial, goal configuration and their retracted configurations. Finally, we proposed a method to remove the branches. We validated the algorithm in virtual environment. The experiments showed that the optimization method could make the whole retracted path lie on the medial axis and the start and goal configuration lie on any free space. Also the proposed method can get paths with maximum clearance in 2D environment in real-time.

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Periodical:

Applied Mechanics and Materials (Volumes 687-691)

Pages:

1241-1244

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.687-691.1241

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Online since:

November 2014

Authors:

Fu Yu Yan*, Fan Wu, Fei Peng, Zhi Jie Zhu

Keywords:

Motion Planning, Path Clearance Optimization Method, Path Quality, Retraction Algorithm

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