Robust path planning in the plane

Abstract

This work presents an approach to plan motion strategies for robotics tasks constrained by uncertainty in position, orientation, and control. Our approach operates in a (x, y, /spl theta/) configuration space and it combines two local functions: a contact-based attraction function and an exploration function. Compliant motions are used to reduce the position/orientation uncertainty. An explicit geometric model for the uncertainty is defined to evaluate the reachability of the obstacle surfaces when the robot translates in free space.