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Erschienen in:
2011 | OriginalPaper | Buchkapitel
CCQ: Efficient Local Planning Using Connection Collision Query
verfasst von : Min Tang, Young J. Kim, Dinesh Manocha
Erschienen in: Algorithmic Foundations of Robotics IX
Verlag: Springer Berlin Heidelberg
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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.