Author:
Qin Huanchang,Wu Zaiqun,Pan Pan,Wang Meisuo,Qin Jiangfeng,Ye Ziqi
Abstract
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.