Effective Sampling and Distance Metrics for 3D Rigid Body Path Planning

James Kuffner
Proc. 2004 IEEE Int? Conf. on Robotics and Automation (ICRA 2004), May, 2004.


Download
  • Adobe portable document format (pdf) (939KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
Important implementation issues in rigid body path planning are often overlooked. In particular, sampling-based motion planning algorithms typically require a distance metric defined on the configuration space, a sampling function, and a method for interpolating sampled points. The configuration space of a 3D rigid body is identified with the Lie group SE(3). Defining proper metrics, sampling, and interpolation techniques for SE(3) is not obvious, and can become a hidden source of failure for many planning algorithm implementations. This paper examines some of these issues and presents techniques which have been found to be effective experimentally for Rigid Body path planning.

Keywords
motion planning, 3D rotation sampling, distance metrics

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Number of pages: 6

Text Reference
James Kuffner, "Effective Sampling and Distance Metrics for 3D Rigid Body Path Planning," Proc. 2004 IEEE Int? Conf. on Robotics and Automation (ICRA 2004), May, 2004.

BibTeX Reference
@inproceedings{Kuffner_2004_4748,
   author = "James Kuffner",
   title = "Effective Sampling and Distance Metrics for 3D Rigid Body Path Planning",
   booktitle = "Proc. 2004 IEEE Int? Conf. on Robotics and Automation (ICRA 2004)",
   publisher = "IEEE",
   month = "May",
   year = "2004",
}