We present a novel constraint-based motion interpolation algorithm to improve the performance of local planners in sample-based motion planning. Given two free-space configurations of a robot, our algorithm computes a one-dimensional trajectory subject to distance constraints between the closest features of the robot and the obstacles.We derive simple and closed form solutions to compute a path that guarantees no collisions between these closest features. The resulting local planner is fast and can improve the performance of sample-based planners with no changes to the underlying sampling strategy. In practice, we observe speedups on benchmarks for rigid robots with narrow passages. © 2009 Springer-Verlag.
CITATION STYLE
Zhang, L., & Manocha, D. (2010). Constrained motion interpolation with distance constraints. In Springer Tracts in Advanced Robotics (Vol. 57, pp. 367–384). https://doi.org/10.1007/978-3-642-00312-7_23
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