IEEE ICRA'07 Digest Template

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.