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Published byJennifer Neal Modified over 5 years ago
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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.
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