Resolution-Exact Planner for Thick Non-Crossing 2-Link Robots

Chee K. Yap, Zhongdi Luo, Ching Hsiang Hsu

Research output: Chapter in Book/Report/Conference proceedingChapter


We consider the path planning problem for a 2-link robot amidst polygonal obstacles. Our robot is parametrizable by the lengths of its two links, the thickness of the links, and an angle that constrains the angle between the 2 links to be strictly greater than. The case and corresponds to “thick non-crossing” robots. This results in a novel 4DOF configuration space where is the torus and the diagonal band of width. We design a resolution-exact planner for this robot using the framework of Soft Subdivision Search (SSS). First, we provide an analysis of the space of forbidden angles, leading to a s5oft predicate for classifying configuration boxes. We further exploit the T/R splitting technique which was previously introduced for self-crossing thin 2-link robots. Our open-source implementation in Core Library achieves real-time performance for a suite of combinatorially non-trivial obstacle sets. Experimentally, our algorithm is significantly better than any of the state-of-art sampling algorithms we looked at, in timing and in success rate.

Original languageEnglish (US)
Title of host publicationSpringer Proceedings in Advanced Robotics
PublisherSpringer Science and Business Media B.V.
Number of pages16
StatePublished - 2020

Publication series

NameSpringer Proceedings in Advanced Robotics
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence
  • Engineering (miscellaneous)
  • Applied Mathematics
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications


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