论文标题
构建比同义路径类更精细
Towards Constructing Finer then Homotopy Path Classes
论文作者
论文摘要
这项工作提出了一个新的路径分类标准，可以通过几何和拓扑区分路径与工作空间区分路径，该路径通过细胞分解分开，产生内侧轴状的骨骼结构。我们使用这些信息以及机器人的拓扑来绑定和对配置空间中的不同路径进行分类。我们表明，所提出的方法发现的路径类等于和较细的路径类别的路径类别。提出的路径类易于计算，比较，并且可用于各种计划目的。该分类在机器人的拓扑结构和工作空间的几何形状上很大程度上建立，从而导致了对配置空间的替代基于纤维束的描述。我们介绍了一个计划框架，以使用所提出的路径分类方法和所得路径类克服障碍和狭窄的段落。
This work presents a new path classification criterion to distinguish paths geometrically and topologically from the workspace, which is divided through cell decomposition, generating a medial-axis-like skeleton structure. We use this information as well as the topology of the robot to bound and classify different paths in the configuration space. We show that the path class found by the proposed method is equivalent to and finer than the path class defined by the homotopy of paths. The proposed path classes are easy to compute, compare, and can be used for various planning purposes. The classification builds heavily upon the topology of the robot and the geometry of the workspace, leading to an alternative fiber-bundle-based description of the configuration space. We introduce a planning framework to overcome obstacles and narrow passages using the proposed path classification method and the resulting path classes.
