Motion Planning for a Deformable Linear Object
Olivier Roussel, Michel Taïx, Timothy Bretl · 2014
Abstract — We present a motion planning algorithm for quasi-static Kirchhoff elastic rod in complex environments. By considering the set of quasi-static deformations which forms a finite dimensional manifold that can be parameterized by a single chart, the configuration space formulation extends nicely to this deformation space. As this parameterization is computationally expensive, our algorithm takes advantage of its smooth structure to approximate fast its neighborhood. Our approach enables motion planning for physically realistic de-formable models for rods and our algorithm gives a significant performance improvement over classical motion planning ap-proaches. We demonstrate the effectiveness of our approach on various academic and industrial scenarios, including difficulties such as narrow passages and high number of primitives. I.