This work presents a new path classification criterion to distinguish paths geometrically and topologically from the workspace, which is divided through cell decomposition, generating a medial-axis-like skeleton structure. We use this information as well as the topology of the robot to bound and classify different paths in the configuration space. We show that the path class found by the proposed method is equivalent to and finer than the path class defined by the homotopy of paths. The proposed path classes are easy to compute, compare, and can be used for various planning purposes. The classification builds heavily upon the topology of the robot and the geometry of the workspace, leading to an alternative fiber-bundle-based description of the configuration space. We introduce a planning framework to overcome obstacles and narrow passages using the proposed path classification method and the resulting path classes.
翻译:这项工作提出了一个新的路径分类标准, 以从几何和地形角度区分路径和工作空间, 工作空间通过细胞分解进行划分, 产生中轴式的骨骼结构。 我们使用这一信息以及机器人的地形学来对配置空间的不同路径进行捆绑和分类。 我们显示, 通过拟议方法发现的道路类别与路径同质定义的道路类别相当和精细。 拟议的路径类别易于计算、 比较, 可用于各种规划目的。 分类主要基于机器人的地形学和工作空间的几何学, 导致对配置空间的另一种基于纤维的描述。 我们引入一个规划框架, 利用拟议路径分类法和由此产生的路径分类法克服障碍和狭窄通道。