We introduce a novel proximity query, called connection collision query (CCQ), and use it for efficient and exact local planning in sampling-based motion planners. Given two collision-free configurations, CCQ checks whether these configurations can be connected by a given continuous path that either lies completely in the free space or penetrates any obstacle by at most ε, a given threshold. Our approach is general, robust, and can handle different continuous path formulations. We have integrated the CCQ algorithm with sampling-based motion planners and can perform reliable local planning queries with little performance degradation, as compared to prior methods. Moreover, the CCQ-based exact local planner is about an order of magnitude faster than prior exact local planning algorithms. © 2010 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Tang, M., Kim, Y. J., & Manocha, D. (2010). CCQ: Efficient local planning using connection collision query. In Springer Tracts in Advanced Robotics (Vol. 68, pp. 229–247). https://doi.org/10.1007/978-3-642-17452-0_14
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