| Issue |
ITM Web Conf.
Volume 47, 2022
2022 2nd International Conference on Computer, Communication, Control, Automation and Robotics (CCCAR2022)
|
|
|---|---|---|
| Article Number | 02005 | |
| Number of page(s) | 6 | |
| Section | Algorithm Optimization and Application | |
| DOI | https://doi.org/10.1051/itmconf/20224702005 | |
| Published online | 23 June 2022 | |
A new multimodal planning algorithm based on PRM
1 School of Information Engineering, Baise University Baise, Guangxi, China, 533000
2 Health Center, Baise University, Baise, Guangxi, China, 533000
3 Guangxi Free Trade Zone Huaxin Technology Co., Ltd., Nanning, Guangxi, China
4 Class of 2019, Electrical Engineering and Automation, Baise University, Guangxi, China, 533000
* Corresponding author: hcqin@bsuc.edu.cn
The robot motion planning problem has a unique multimodal structure, where the space of feasible configuration consists of intersecting submanifolds. The planning problem of reconfigurable robot leg motions was considered as a multimodal structure composed of intersecting submanifolds in different dimensions. After that, a new multimodal planning algorithm based on PRM was proposed. Simulation results showed that the new algorithm had a shorter running time than PRM in different modes.
Key words: Robot / PRM / Submanifold / Multimodal
© The Authors, published by EDP Sciences, 2022
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