Mobility analysis for feasibility studies in CAD models of industrial environments
Carl Van Geem, Thierry Siméon, Jean‐Paul Laumond, J.-L. Bouchet, J.-F. Rit · 2003
Presents a variant of a probabilistic approach to motion planning. The objective is to face large, complex industrial environments for maintenance purpose. The contribution is based on a structuring of the workspace into boxes that limits the size of the graph to be searched. The algorithm was integrated in a commercial CAD system and real-size experiments are presented.