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Published in:
2011 | OriginalPaper | Chapter
Homotopic Path Planning on Manifolds for Cabled Mobile Robots
Authors : Takeo Igarashi, Mike Stilman
Published in: Algorithmic Foundations of Robotics IX
Publisher: Springer Berlin Heidelberg
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We present two path planning algorithms for mobile robots that are connected by cable to a fixed base. Our algorithms efficiently compute the shortest path and control strategy that lead the robot to the target location considering cable length and obstacle interactions. First, we focus on cable-obstacle collisions.We introduce and formally analyze algorithms that build and search an overlapped configuration space manifold. Next, we present an extension that considers cable-robot collisions. All algorithms are experimentally validated using a real robot.