Occlusion-free path planning with a probabilistic roadmap

@article{Baumann2008OcclusionfreePP,
  title={Occlusion-free path planning with a probabilistic roadmap},
  author={Matthew A. Baumann and Donna C. Dupuis and Simon L{\'e}onard and Elizabeth A. Croft and James J. Little},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={2151-2156}
}
We present a novel algorithm for path planning that avoids occlusions of a visual target for an ldquoeye-in-handrdquo sensor on an articulated robot arm. We compute paths using a probabilistic roadmap to avoid collisions between the robot and obstacles, while penalizing trajectories that do not maintain line-of-sight. The system determines the space from which line-of-sight is unimpeded to the target (the visible region). We assign penalties to trajectories within the roadmap proportional to… CONTINUE READING

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