Distance metrics and algorithms for task space path optimization

Abstract

We propose a method for generating a configuration space path that closely follows a desired task space path despite the presence of obstacles. We formalize closeness via two path metrics based on the discrete Hausdorff and Frechet distances. Armed with these metrics, we can cast our problem as a trajectory optimization problem. We also present two… (More)
DOI: 10.1109/IROS.2016.7759814
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